Robust real-time visual odometry with a single camera and an IMU

BMVC 2011 - Proceedings of the British Machine Vision Conference 2011

Volumn , Issue , 2011, Pages

  Kneip, Laurent ^a   Chli, Margarita ^a   Siegwart, Roland ^a  

^a ETH ZURICH   (Switzerland)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER VISION; VISION;

COMPREHENSIVE EVALUATION; HIGH-PRECISION; LOCAL MOTIONS; MONOCULAR CAMERAS; SCALABLE SOLUTION; SINGLE CAMERAS; VISUAL DATA; VISUAL ODOMETRY;

CAMERAS;

EID: 84898404429     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.5244/C25.16     Document Type: Conference Paper

References (24)

1. H. Bay, A. Ess, T. Tuytelaars, and L. Van Gool. SURF: Speeded up robust features. Computer Vision and Image Understanding (CVIU), 110(3):346-359, 2008.
2. M. Calonder, V. Lepetit, C. Strecha, and P. Fua. BRIEF: Binary Robust Independent Elementary Features. In Proceedings of the European Conference on Computer Vision (ECCV), 2010.
3. J. Campbell, R. Sukthankar, and I. Nourbakhsh. Techniques for evaluating optical flow for visual odometry in extreme terrain. In Proceedings of the IEEE/RSJ Conference on Intelligent Robots and Systems (IROS), 2004.
4. M. Chli. Applying Information Theory to Efficient SLAM. PhD thesis, Imperial College London, 2009.
5. A. J. Davison, N. D. Molton, I. Reid, and O. Stasse. MonoSLAM: Real-time single camera SLAM. IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI), 29(6):1052-1067, 2007.
6. M. A. Fischler and R. C. Bolles. Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography. Communications of the ACM, 24(6):381-395, 1981.
7. F Fraundorfer, P. Tanskanen, and M. Pollefeys. A minimal case solution to the calibrated relative pose problem for the case of two known orientation angles. In Proceedings of the European Conference on Computer Vision (ECCV), 2010.
8. A. Howard. Real-time stereo visual odometry for autonomous ground vehicles. In Proceedings of the IEEE/RSJ Conference on Intelligent Robots and Systems (IROS), 2008.
9. M. Kalantari, A. Hashemi, and F Jung J.-P. Guedon. A new solution to the relative orientation problem using only 3 points and the vertical direction. Journal of Mathematical Imaging and Vision (JMIV), 39:259-268, 2011.
10. G. Klein and D. W. Murray. Parallel tracking and mapping for small AR workspaces. In Proceedings of the International Symposium on Mixed and Augmented Reality (IS-MAR), 2007.
11. L. Kneip, D. Scaramuzza, and R. Siegwart. A novel parametrization of the perspective-three-point problem for a direct computation of absolute camera position and orientation. In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2011.
12. K. Konolige, M. Agrawal, and J. Solà. Large scale visual odometry for rough terrain. In Proceedings of the International Symposium on Robotics Research (ISRR), 2007.
13. K. Konolige, M. Agrawal, and J. Solá. Large-scale visual odometry for rough terrain. In Robotics Research, Volume 66 of Springer Tracts in Advanced Robotics, pages 201-212. 2011.
14. Z. Kukelova, M. Bujnak, and T. Pajdla. Closed-form solutions to the minimal absolute pose problems with known vertical direction. In Proceedings of the Asian Conference on Computer Vision (ACCV), 2010.
15. J. Lobo and J. Dias. Relative pose calibration between visual and inertial sensors. International Journal of Robotics Research (IJRR), 26(6):561-575, 2007.
16. B. D. Lucas and T. Kanade. An iterative image registration technique with an application to stereo vision. In Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI), 1981.
17. S. Lupashin, A. Schöllig, M. Sherback, and R. D'Andrea. A simple learning strategy for high-speed quadrocopter multi-flips. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2010.
18. E. Mair, G. D. Hager, D. Burschka, M. Suppa, and G. Hirzinger. Adaptive and generic corner detection based on the accelerated segment test. In Proceedings of the European Conference on Computer Vision (ECCV), 2010.
19. D. Nistér, O. Naroditsky, and J. Bergen. Visual odometry. In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2004.
20. M. Pollefeys, R. Koch, M. Vergauwen, B. Deknuydt, and L. Van Gool. Three-dimensional scene reconstruction from images, volume 3958, pages 215-226. Proceedings of SPIE Electronic Imaging, 2000.
21. E. Rosten and T. Drummond. Machine learning for high-speed corner detection. In Proceedings of the European Conference on Computer Vision (ECCV), 2006.
22. D. Scaramuzza, A. Martinelli, and R. Siegwart. A toolbox for easily calibrating omnidirectional cameras. In Proceedings of the IEEE/RSJ Conference on Intelligent Robots and Systems (IROS), 2006.
23. D. Strelow and S. Singh. Motion estimation from image and inertial measurements. International Journal of Robotics Research (IJRR), 23(12):1157, 2004.
24. C. Zach, T. Pock, and H. Bischof. A duality based approach for realtime TV-L1 optical flow. In Proceedings of the DAGM Symposium on Pattern Recognition, 2007.