Visual odometry for ground vehicle applications
Visual odometry for ground vehicle applications
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DOI：
10.1002/rob.20103
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发表时间：
2006-01-01
影响因子：
8.3
通讯作者：
Bergen, James
中科院分区：
文献类型：
--
作者：
Nister, David;Naroditsky, Oleg;Bergen, James
我们提出了一个系统，估计的运动的立体头，或一个单一的移动摄像机，基于视频输入。该系统以低延迟的真实的时间操作，并且运动估计用于导航目的。系统的前端是一个特征跟踪器。点特征在成对的帧之间进行匹配，并以视频速率链接到图像轨迹中。鲁棒的相机运动的估计，然后从使用几何假设和测试架构的功能轨道。这仅从视觉输入生成运动估计。不需要事先了解场景或运动。视觉估计也可以与来自其他来源的信息，如全球定位系统，惯性传感器，车轮编码器等的姿态估计方法已成功地应用于从空中，汽车和手持平台的视频结合使用。我们专注于获得的结果与安装在自主地面车辆的立体声头。我们给出的例子，估计在真实的时间纯粹从图像在以前看不见的距离（600米）和一段时间的摄像机轨迹。(C)2006 Wiley Periodicals，Inc.
We present a system that estimates the motion of a stereo head, or a single moving camera, based on video input. The system operates in real time with low delay, and the motion estimates are used for navigational purposes. The front end of the system is a feature tracker. Point features are matched between pairs of frames and linked into image trajectories at video rate. Robust estimates of the camera motion are then produced from the feature tracks using a geometric hypothesize-and-test architecture. This generates motion estimates from visual input alone. No prior knowledge of the scene or the motion is necessary. The visual estimates can also be used in conjunction with information from other sources, such as a global positioning system, inertia sensors, wheel encoders, etc. The pose estimation method has been applied successfully to video from aerial, automotive, and handheld platforms. We focus on results obtained with a stereo head mounted on an autonomous ground vehicle. We give examples of camera trajectories estimated in real time purely from images over previously unseen distances (600 m) and periods of time. (C) 2006 Wiley Periodicals, Inc.