Real-time monocular visual odometry for on-road vehicles with 1-point RANSAC

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2009, Pages 4293-4299

  Scaramuzza, Davide ^a   Fraundorfer, Friedrich ^a   Siegwart, Roland ^a  

^a ETH ZURICH   (Switzerland)

Author keywords

[No Author keywords available]

Indexed keywords

AGRICULTURAL ROBOTS; COMPUTER VISION; LAPTOP COMPUTERS; MOTION ESTIMATION; STATISTICS; VIDEO CAMERAS;

FEATURE CORRESPONDENCE; FEATURE MATCHING; HIGH FRAME RATE; MODEL PARAMETERIZATION; NON HOLONOMIC CONSTRAINT; OMNIDIRECTIONAL CAMERAS; OUTLIER REMOVALS; WHEELED VEHICLES;

ROAD VEHICLES;

EID: 85035116037     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2009.5152255     Document Type: Conference Paper

References (24)

1. Hartley, R., Zisserman, A.: Multiple View Geometry in Computer Vision. Second edn. Cambridge University Press, ISBN: 0521540518 (2004)
2. Bosse, M., Rikoski, R., Leonard, J., Teller, S.: Vanishing points and 3d lines from omnidirectional video. In: ICIP02. (2002) III: 513-516
3. Corke, P.I., Strelow, D., Singh, S.: Omnidirectional visual odometry for a planetary rover. In: IROS. (2004)
4. Lhuillier, M.: Automatic structure and motion using a catadioptric camera. In: IEEE Workshop on Omnidirectional Vision. (2005)
5. Nister, D., Naroditsky, O., J., B.: Visual odometry for ground vehicle applications. Journal of Field Robotics (2006)
6. Goecke, R., Asthana, A., Pettersson, N., Petersson, L.: Visual vehicle egomotion estimation using the fourier-mellin transform. In: IEEE Intelligent Vehicles Symposium. (2007)
7. Tardif, J., Pavlidis, Y., Daniilidis, K.: Monocular visual odometry in urban environments using an omnidirectional camera. In: IEEE IROS'08. (2008)
8. Milford, M.J., Wyeth, G.: Single camera vision-only slam on a suburban road network. In: IEEE International Conference on Robotics and Automation, ICRA'08. (2008)
9. Scaramuzza, D., Siegwart, R.: Appearance-guided monocular omnidirectional visual odometry for outdoor ground vehicles. IEEE Transactions on Robotics, Special Issue on Visual SLAM 24 (2008)
10. Nister, D.: Preemptive ransac for live structure and motion estimation. Machine Vision and Applications 16 (2005) 321-329
11. Milford, M., Wyeth, G., Prasser, D.: Ratslam: A hippocampal model for simultaneous localization and mapping. In: International Conference on Robotics and Automation, ICRA'04. (2004)
12. Scaramuzza, D., Fraundorfer, F., Pollefeys, M., Siegwart, R.: Closing the loop in appearance-guided structure-from-motion for omnidirectional cameras. In: Eighth Workshop on Omnidirectional Vision (OMNIVIS08). (2008)
13. Deans, M.C.: Bearing-Only Localization and Mapping. PhD thesis, Carnegie Mellon University (2002)
14. Davison, A.: Real-time simultaneous localisation and mapping with a single camera. In: International Conference on Computer Vision. (2003)
15. Clemente, L.A., Davison, A.J., Reid, I., Neira, J., Tardos, J.D.: Mapping large loops with a single hand-held camera. In: Robotics Science and Systems. (2007)
16. Lemaire, T., Lacroix, S.: Slam with panoramic vision. Journal of Field Robotics 24 (2007) 91-111
17. Siegwart, R., Nourbakhsh, I.: Introduction to Autonomous Mobile Robots. MIT Press (2004)
18. Fischler, M.A., Bolles, R.C.: RANSAC random sampling concensus: A paradigm for model fitting with applications to image analysis and automated cartography. Communications of ACM 26 (1981) 381-395
19. Nistér, D.: An efficient solution to the five-point relative pose problem. In: CVPR03. (2003) II: 195-202
20. Stewenius, H., Engels, C., Nister, D.: Recent developments on direct relative orientation. ISPRS Journal of Photogrammetry and Remote Sensing 60 (2006) 284-294
21. Philip, J.: A non-iterative algorithm for determining all essential matrices corresponding to five point pairs. Photogrammetric Record 15 (1996) 589-599
22. Ortín, D., Montiel, J.M.M.: Indoor robot motion based on monocular images. Robotica 19 (2001) 331-342
23. Scaramuzza, D., Martinelli, A., Siegwart, R.: A toolbox for easy calibrating omnidirectional cameras. In: IEEE International Conference on Intelligent Robots and Systems (IROS 2006). (2006)
24. Scaramuzza, D.: Ocamcalib toolbox: Omnidirectional camera calibration toolbox for matlab (2006) Google for "ocamcalib".