Print Email Facebook Twitter Vehicle ego-motion estimation with geometric algebra Title Vehicle ego-motion estimation with geometric algebra Author van der Mark, W. Fontijne, D. Dorst, L. Groen, F.C.A. TNO Fysisch en Elektronisch Laboratorium Publication year 2003 Abstract A method for estimating ego-motion with vehicle mounted stereo cameras is presented. This approach is based on finding corresponding features in stereo images and tracking them between succeeding stereo frames. Our approach estimates stereo ego-motion with geometric algebra techniques. Starting with a simple linear estimate of the ego-motion, estimates for the motion and reconstructed positions of features in space are updated incrementally. With simple algebraic operations it is possible to improve towards a high precision motion estimate. Accuracy of our algorithm has been measured with simulated data. These tests show improvement in motion estimation accuracy. Random sample consensus is used to safeguard the estimator against wrongly tracked features and influences of independently moving objects. We show the application of our approach in the real world by estimating the driven path of a vehicle in rough terrain from recorded stereo image sequences. © 2003 IEEE. Subject Computer visionStereo image processingVehiclesAlgebraic operationsEgo-motion estimationGeometric AlgebraHigh-precision motionLinear estimatesMoving objectsRandom sample consensusMotion estimation To reference this document use: http://resolver.tudelft.nl/uuid:f15435bc-d095-495a-ac9e-46f7250f7299 DOI https://doi.org/10.1109/ivs.2002.1187928 TNO identifier 528615 Publisher Institute of Electrical and Electronics Engineers Inc., Piscataway, NJ Source 2002 IEEE Intelligent Vehicle Symposium, IV 2002, 17-21 June 2002, Versailles, France, 58-63 Document type conference paper Files To receive the publication files, please send an e-mail request to TNO Library.