Visual odometry based on stereo image sequences with RANSAC-based outlier rejection scheme
Top Cited Papers
- 1 June 2010
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- No. 19310587,p. 486-492
- https://doi.org/10.1109/ivs.2010.5548123
Abstract
A common prerequisite for many vision-based driver assistance systems is the knowledge of the vehicle's own movement. In this paper we propose a novel approach for estimating the egomotion of the vehicle from a sequence of stereo images. Our method is directly based on the trifocal geometry between image triples, thus no time expensive recovery of the 3-dimensional scene structure is needed. The only assumption we make is a known camera geometry, where the calibration may also vary over time. We employ an Iterated Sigma Point Kalman Filter in combination with a RANSAC-based outlier rejection scheme which yields robust frame-to-frame motion estimation even in dynamic environments. A high-accuracy inertial navigation system is used to evaluate our results on challenging real-world video sequences. Experiments show that our approach is clearly superior compared to other filtering techniques in terms of both, accuracy and run-time.Keywords
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