Paper Info
Title
Continuous pose estimation for stereo vision based on UV disparity applied to visual odometry in urban environments
Abstract
This paper presents an autocalibration method to determine the pose of a stereo vision system based on knowing the geometry of the ground in front of the cameras. This pose changes considerably while the vehicle is driven, therefore it is good to know constantly the pose of the camera for several applications based on computer vision, such as advanced driver assistance systems, autonomous vehicles or robotics. These constant changes of the pose make interesting to be able to detect constantly the variations in its extrinsic parameters (height, pitch, roll). The validation of the autocalibration method is accomplished by a visual odometry implementation. A study of the improvement of the results of the visual odometry estimation taking into account the changes of the camera pose is presented, demonstrating the advantages of the autocalibration method.
Year
DOI
Venue
2014
10.1109/ICRA.2014.6907437
Robotics and Automation
Keywords
Field
DocType
calibration,driver information systems,mobile robots,pose estimation,road vehicles,robot vision,stereo image processing,UV disparity,advanced driver assistance systems,autocalibration method,autonomous vehicles,camera pose estimation,computer vision,continuous pose estimation,robotics,stereo vision system,urban environments,visual odometry
Computer vision,Visual odometry,Stereopsis,Advanced driver assistance systems,Pose,Artificial intelligence,Articulated body pose estimation,Engineering,Robotics
Conference
Volume
Issue
ISSN
2014
1
1050-4729
Citations 
PageRank 
References 
0
0.34
0
Authors
5
Name
Order
Citations
PageRank
Basam Musleh1575.77
David Martín28513.85
José María Armingol321324.74
A. de la Escalera441638.29
de la Escalera, A.500.34