Large scale visual odometry using stereo vision

Andres Hernandez-Gutierrez, Juan I. Nieto, Teresa Vidal-Calleja, Eduardo Nebot

Resultado de la investigación

2 Citas (Scopus)

Resumen

This paper presents a system for egomotion estimation using a stereo head camera. The camera motion estimation is based on features tracked along a video sequence. The system also estimates the tridimensional geometry of the environment by fusing the visual information from multiple views. Furthermore, the paper presents comparisons between two different algorithms. The first one is by applying triangulation to 3D points. Motion estimation using 3D points suffers from the problem of nonisotropic noise due to the large uncertainty in depth estimation. To deal with this problem we present results with a second approach that works directly in the disparity space. Experimental results using a mobile platform are presented. The experiments cover long distances in urban-like environments with the presence of dynamic objects. The system presented is part of a bigger project involving autonomous navigation using vision only.

Idioma originalEnglish
Título de la publicación alojadaProceedings of the 2009 Australasian Conference on Robotics and Automation, ACRA 2009
EstadoPublished - 1 dic 2009
Evento2009 Australasian Conference on Robotics and Automation, ACRA 2009 - Sydney, NSW
Duración: 2 dic 20094 dic 2009

Serie de la publicación

NombreProceedings of the 2009 Australasian Conference on Robotics and Automation, ACRA 2009

Conference

Conference2009 Australasian Conference on Robotics and Automation, ACRA 2009
PaísAustralia
CiudadSydney, NSW
Período2/12/094/12/09

Huella dactilar

Stereo vision
Motion estimation
Cameras
Triangulation
Navigation
Geometry
Experiments
Uncertainty

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Control and Systems Engineering

Citar esto

Hernandez-Gutierrez, A., Nieto, J. I., Vidal-Calleja, T., & Nebot, E. (2009). Large scale visual odometry using stereo vision. En Proceedings of the 2009 Australasian Conference on Robotics and Automation, ACRA 2009 (Proceedings of the 2009 Australasian Conference on Robotics and Automation, ACRA 2009).
Hernandez-Gutierrez, Andres ; Nieto, Juan I. ; Vidal-Calleja, Teresa ; Nebot, Eduardo. / Large scale visual odometry using stereo vision. Proceedings of the 2009 Australasian Conference on Robotics and Automation, ACRA 2009. 2009. (Proceedings of the 2009 Australasian Conference on Robotics and Automation, ACRA 2009).
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Hernandez-Gutierrez, A, Nieto, JI, Vidal-Calleja, T & Nebot, E 2009, Large scale visual odometry using stereo vision. En Proceedings of the 2009 Australasian Conference on Robotics and Automation, ACRA 2009. Proceedings of the 2009 Australasian Conference on Robotics and Automation, ACRA 2009, 2009 Australasian Conference on Robotics and Automation, ACRA 2009, Sydney, NSW, 2/12/09.

Large scale visual odometry using stereo vision. / Hernandez-Gutierrez, Andres; Nieto, Juan I.; Vidal-Calleja, Teresa; Nebot, Eduardo.

Proceedings of the 2009 Australasian Conference on Robotics and Automation, ACRA 2009. 2009. (Proceedings of the 2009 Australasian Conference on Robotics and Automation, ACRA 2009).

Resultado de la investigación

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AB - This paper presents a system for egomotion estimation using a stereo head camera. The camera motion estimation is based on features tracked along a video sequence. The system also estimates the tridimensional geometry of the environment by fusing the visual information from multiple views. Furthermore, the paper presents comparisons between two different algorithms. The first one is by applying triangulation to 3D points. Motion estimation using 3D points suffers from the problem of nonisotropic noise due to the large uncertainty in depth estimation. To deal with this problem we present results with a second approach that works directly in the disparity space. Experimental results using a mobile platform are presented. The experiments cover long distances in urban-like environments with the presence of dynamic objects. The system presented is part of a bigger project involving autonomous navigation using vision only.

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Hernandez-Gutierrez A, Nieto JI, Vidal-Calleja T, Nebot E. Large scale visual odometry using stereo vision. En Proceedings of the 2009 Australasian Conference on Robotics and Automation, ACRA 2009. 2009. (Proceedings of the 2009 Australasian Conference on Robotics and Automation, ACRA 2009).