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 vision
Stereo image processing
Vehicles
Algebraic operations
Ego-motion estimation
Geometric Algebra
High-precision motion
Linear estimates
Moving objects
Random sample consensus
Motion 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