NDLI: A constricted bundle adjustment parameterization for relative scale estimation in visual odometry

Content Provider	IEEE Xplore Digital Library
Author	Fraundorfer, F. Scaramuzza, D. Pollefeys, M.
Copyright Year	2010
Description	Author affiliation: Computer Vision and Geometry Lab, ETH Zürich, Switzerland (Fraundorfer, F.; Pollefeys, M.) \|\| Autonomous Systems Lab, ETH Zürich, Switzerland (Scaramuzza, D.)
Abstract	In this paper we address the problem of visual motion estimation (visual odometry) from a single vehicle mounted camera. One of the basic issues of visual odometry is relative scale estimation. We propose a method to compute the relative scales of a path by solving a bundle adjustment optimization problem. We introduce a constricted parameterization of the bundle adjustment problem, where only the distances between neighboring cameras are optimized, while the rotation angles and translation directions stay fixed. We will present visual odometry results for image data of a vehicle mounted onmidirectional camera for a track of 1000m length.
Starting Page	1899
Ending Page	1904
File Size	1884481
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509733
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Motion estimation Tracking Robustness Computational geometry Robotics and automation USA Councils Computer vision Remotely operated vehicles Mobile robots
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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