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Stereo Tracking and Three-Point/One-Point Algorithms - A Robust Approach in Visual Odometry

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Stereo Tracking and Three-Point/One-Point Algorithms - A Robust Approach in Visual Odometry
In this paper, we present an approach of calculating visual odometry for outdoor robots equipped with a stereo rig. Instead of the typical feature matching or tracking, we use an improved stereo-tracking method that simultaneously decides the feature displacement in both cameras. Based on the matched features, a three-point algorithm for the resulting quadrifocal setting is carried out in a RANSAC framework to recover the unknown odometry. In addition, the change in rotation can be derived from infinity homography, and the remaining translational unknowns can be obtained even faster consequently . Both approaches are quite robust and deal well with challenging conditions such as wheel slippage.
Kai Ni, Frank Dellaert
Added 22 Oct 2009
Updated 27 Oct 2009
Type Conference
Year 2006
Where ICIP
Authors Kai Ni, Frank Dellaert
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