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

dc.contributor.author Ni, Kai
dc.contributor.author Dellaert, Frank
dc.contributor.corporatename Georgia Institute of Technology. Center for Robotics and Intelligent Machines
dc.contributor.corporatename Georgia Institute of Technology. College of Computing
dc.date.accessioned 2011-04-15T13:52:55Z
dc.date.available 2011-04-15T13:52:55Z
dc.date.issued 2006-10
dc.description ©2006 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. en_US
dc.description Presented at the IEEE International Conference on Image Processing, (ICIP 2006), 8-11 October 2006 Atlanta, GA.
dc.description DOI: 10.1109/ICIP.2006.313123
dc.description.abstract 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. en_US
dc.identifier.citation Ni, K., & Dellaert, F. (2006). “Stereo Tracking and Three-Point/One-Point Algorithms - A Robust Approach in Visual Odometry”. Proceedings of the International Conference on Image Processing, (ICIP 2006), 8-11 October 2006, 2777-2780. en_US
dc.identifier.issn 1522-4880
dc.identifier.uri http://hdl.handle.net/1853/38538
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.publisher.original Institute of Electrical and Electronics Engineers
dc.subject Infinity homography en_US
dc.subject Motion estimation en_US
dc.subject Outdoor robots en_US
dc.subject Stereo vision en_US
dc.subject Tracking en_US
dc.subject Visual odometry en_US
dc.title Stereo Tracking and Three-Point/One-Point Algorithms - A Robust Approach in Visual Odometry en_US
dc.type Text
dc.type.genre Post-print
dc.type.genre Proceedings
dspace.entity.type Publication
local.contributor.author Dellaert, Frank
local.contributor.corporatename Institute for Robotics and Intelligent Machines (IRIM)
local.contributor.corporatename College of Computing
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relation.isOrgUnitOfPublication 66259949-abfd-45c2-9dcc-5a6f2c013bcf
relation.isOrgUnitOfPublication c8892b3c-8db6-4b7b-a33a-1b67f7db2021
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