ICIP 2006, Atlanta, GA
 

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Atlanta Conv. & Vis. Bureau

 

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Paper Detail

Paper:WA-P9.2
Session:Motion Tracking
Time:Wednesday, October 11, 09:40 - 12:20
Presentation: Poster
Topic: Motion Detection and Estimation: Parametric models for motion estimation
Title: STEREO TRACKING AND THREE-POINT/ONE-POINT ALGORITHMS - A ROBUST APPROACH IN VISUAL ODOMETRY
Authors: Kai Ni; Georgia Institute of Technology 
 Frank Dellaert; Georgia Institute of Technology 
Abstract: In this paper, we present an approach of calculating visual odometry for outdoor robots equipped with a stereo rig. Instead of the typical feature matching or tracking, we use an improved stereo-tracking method that simultaneously decides the feature displacement in both cameras. Based on the matched features, a three-point algorithm for the resulting quadrifocal setting is carried out in a RANSAC framework to recover the unknown odometry. In addition, the change in rotation can be derived from infinity homography, and the remaining translational unknowns can be obtained even faster consequently . Both approaches are quite robust and deal well with challenging conditions such as wheel slippage.