Visual Odometry Using a Homography Formulation with Decoupled Rotation and Translation Estimation Using Minimal Solutions

Banglei Guan, P. Vasseur, C. Demonceaux, F. Fraundorfer

Research output: Chapter in Book/Report/Conference proceedingConference contribution

LanguageEnglish
Title of host publication2018 IEEE International Conference on Robotics and Automation (ICRA)
Pages2320-2327
Number of pages8
ISBN (Electronic)978-1-5386-3081-5
DOIs
StatusPublished - 1 May 2018

Keywords

  • distance measurement
  • estimation theory
  • image matching
  • matrix algebra
  • motion estimation
  • pose estimation
  • robot vision
  • decoupled rotation
  • optimal inlier set
  • histogram voting
  • RANSAC step
  • KITTI data set
  • road driving scenarios
  • homography formulation
  • visual odometry
  • exhaustive search
  • motion hypothesis
  • translation estimation
  • dominant ground plane
  • Estimation
  • Visual odometry
  • Mathematical model
  • Cameras
  • Histograms
  • Gravity
  • Motion estimation

Cite this

Guan, B., Vasseur, P., Demonceaux, C., & Fraundorfer, F. (2018). Visual Odometry Using a Homography Formulation with Decoupled Rotation and Translation Estimation Using Minimal Solutions. In 2018 IEEE International Conference on Robotics and Automation (ICRA) (pp. 2320-2327). DOI: 10.1109/ICRA.2018.8460747

Visual Odometry Using a Homography Formulation with Decoupled Rotation and Translation Estimation Using Minimal Solutions. / Guan, Banglei; Vasseur, P.; Demonceaux, C.; Fraundorfer, F.

2018 IEEE International Conference on Robotics and Automation (ICRA). 2018. p. 2320-2327.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Guan, B, Vasseur, P, Demonceaux, C & Fraundorfer, F 2018, Visual Odometry Using a Homography Formulation with Decoupled Rotation and Translation Estimation Using Minimal Solutions. in 2018 IEEE International Conference on Robotics and Automation (ICRA). pp. 2320-2327. DOI: 10.1109/ICRA.2018.8460747
Guan B, Vasseur P, Demonceaux C, Fraundorfer F. Visual Odometry Using a Homography Formulation with Decoupled Rotation and Translation Estimation Using Minimal Solutions. In 2018 IEEE International Conference on Robotics and Automation (ICRA). 2018. p. 2320-2327. Available from, DOI: 10.1109/ICRA.2018.8460747
Guan, Banglei ; Vasseur, P. ; Demonceaux, C. ; Fraundorfer, F./ Visual Odometry Using a Homography Formulation with Decoupled Rotation and Translation Estimation Using Minimal Solutions. 2018 IEEE International Conference on Robotics and Automation (ICRA). 2018. pp. 2320-2327
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