지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- 사단법인 항법시스템학회 Journal of Positioning, Navigation, and Timing Journal of Positioning, Navigation, and Timing 제2권 제1호
- 발행연도
- 2013.1
- 수록면
- 81 - 89 (9page)
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초록· 키워드
오류제보하기
Many of the current visual odometry algorithms suffer from some extreme limitations such as requiring a high amount of computation time, complex algorithms, and not working in urban environments. In this paper, we present an approach that can solve all the above problems using a single camera. Using a planar motion assumption and Ackermann's principle of motion, we construct the vehicle's motion model as a circular planar motion (2DOF). Then, we adopt a 1-point method to improve the Ransac algorithm and the relative motion estimation. In the Ransac algorithm, we use a 1-point method to generate the hypothesis and then adopt the Levenberg-Marquardt method to minimize the geometric error function and verify inliers. In motion estimation, we combine the 1-point method with a simple least-square minimization solution to handle cases in which only a few feature points are present. The 1-point method is the key to speed up our visual odometry application to real-time systems. Finally, a Bundle Adjustment algorithm is adopted to refine the pose estimation. The results on real datasets in urban dynamic environments demonstrate the effectiveness of our proposed algorithm.
목차
등록된 정보가 없습니다.
참고문헌 (19)
참고문헌 신청
Bay, H. / 2006 / SURF: Speeded Up Robust Features / Computer Vision ? ECCV 2006 3951 : 404 ~ 417
Civera, J. / 2010 / 1-point RANSAC for extended Kalman filtering: Application to real-time structure from motion and visual odometry / Journal of Field Robotics 27 : 609 ~ 63
Fischler, M. / 1981 / Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography / Communications of ACM 26 (24) : 38
Golban, C. / 2012 / Stereo based visual odometry in difficult traffic scenes / Proceedings of Intelligent Vehicles Symposium : 736 ~ 741
Howard, A / 2008 / Real-time stereo visual odometry for autonomous ground vehicles / Proceedings of the international conference on intelligent robots and systems : 3946 ~ 3952
Civera, J. / 2010 / 1-point RANSAC for extended Kalman filtering: Application to real-time structure from motion and visual odometry / Journal of Field Robotics 27 : 609 ~ 63
Fischler, M. / 1981 / Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography / Communications of ACM 26 (24) : 38
Golban, C. / 2012 / Stereo based visual odometry in difficult traffic scenes / Proceedings of Intelligent Vehicles Symposium : 736 ~ 741
Howard, A / 2008 / Real-time stereo visual odometry for autonomous ground vehicles / Proceedings of the international conference on intelligent robots and systems : 3946 ~ 3952
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