Motion-without-structure: Real-time multipose optimization for accurate visual odometry

IEEE Intelligent Vehicles Symposium, Proceedings

Volumn , Issue , 2012, Pages 649-654

  Lategahn, Henning ^a   Geiger, Andreas ^a   Kitt, Bernd ^a   Stiller, Christoph ^a  

^a KARLSRUHE INSTITUTE OF TECHNOLOGY   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

BATCH FASHION; BUNDLE ADJUSTMENTS; EFFICIENT ESTIMATOR; ERROR CRITERION; GAUSS-NEWTON METHODS; INCREMENTAL METHOD; INCREMENTAL MOTION; MOTION MODELS; MULTI-POSE; MULTIPLE TIME STEP; NON-LINEAR LEAST SQUARES; NONLINEAR LEAST SQUARES PROBLEMS; REAL WORLD DATA; RELATIVE POSE; SCENE STRUCTURE; SLIDING WINDOW; STATE OF THE ART; VISUAL ODOMETRY;

INTELLIGENT VEHICLE HIGHWAY SYSTEMS; MOTION ESTIMATION; NEWTON-RAPHSON METHOD;

OPTIMIZATION;

EID: 84865047331     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IVS.2012.6232235     Document Type: Conference Paper

References (17)

1. M. Agrawal and K. Konolige, "Rough terrain visual odometry," in Proceedings of the International Conference on Advanced Robotics (ICAR), 2007.
2. H. Badino, U. Franke, and R. Mester, "Free space computation using stochastic occupancy grids and dynamic programming," in Workshop on Dynamical Vision (ICCV), 2007.
3. A. Barth and U. Franke, "Estimating the driving state of oncoming vehicles from a moving platform using stereo vision," Intelligent Transportation Systems, IEEE Transactions on, vol. 10, no. 4, pp. 560-571, 2009.
4. A. Davison, I. Reid, N. Molton, and O. Stasse, "MonoSLAM: Realtime single camera SLAM," IEEE Transactions on Pattern Analysis and Machine Intelligence, pp. 1052-1067, 2007.
5. H. Durrant-Whyte and T. Bailey, "Simultaneous localisation and mapping (SLAM): Part I the essential algorithms," Robotics and Automation Magazine, vol. 13, no. 2, pp. 99-110, 2006.
6. A. Geiger, J. Ziegler, and S. C., "Stereoscan: Dense 3d mapping in real-time," in IEEE Intelligent Vehicles Symposium, June 2011.
7. A. Geiger, M. Lauer, and R. Urtasun, "A generative model for 3d urban scene understanding from movable platforms," in Computer Vision and Pattern Recognition (CVPR), Colorado Springs, USA, June 2011.
8. A. Howard, "Real-time stereo visual odometry for autonomous ground vehicles," in Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on. Ieee, 2008, pp. 3946-3952.
9. S. Julier and J. Uhlmann, "A counter example to the theory of simultaneous localization and map building," in Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on, vol. 4. IEEE, 2001, pp. 4238-4243.
10. M. Kaess, K. Ni, and F. Dellaert, "Flow separation for fast and robust stereo odometry," in IEEE International Conference on Robotics and Automation (ICRA), 2009, pp. 3539-3544.
11. K. Konolige, M. Agrawal, and J. Sola, "Large-scale visual odometry for rough terrain," Robotics Research, pp. 201-212, 2011.
12. K. Konolige, G. Grisetti, R. Kümmerle, W. Burgard, B. Limketkai, and R. Vincent, "Sparse pose adjustment for 2d mapping," IROS, Taipei, Taiwan, vol. 10, p. 2010, 2010.
13. T. Lemaire, C. Berger, I. Jung, and S. Lacroix, "Vision-based slam: Stereo and monocular approaches," International Journal of Computer Vision (IJCV), vol. 74, no. 3, p. 364, 2007.
14. D. Nistér, O. Naroditsky, and J. Bergen, "Visual odometry," 2004.
15. P. Piniés and J. Tardós, "Scalable SLAM building conditionally independent local maps," in IEEE conference on Intelligent Robots and Systems (IROS), 2007.
16. R. Schubert, E. Richter, and G. Wanielik, "Comparison and evaluation of advanced motion models for vehicle tracking," in Information Fusion, 2008 11th International Conference on. IEEE, 2008, pp. 1-6.
17. G. Sibley, C. Mei, I. Reid, and P. Newman, "Vast-scale Outdoor Navigation Using Adaptive Relative Bundle Adjustment," The International Journal of Robotics Research, 2010.