Simultaneous estimation of ego-motion and vehicle distance by using a monocular camera

Yang, Dongfang; Sun, Fuchun; Wang, Shicheng; Zhang, Jinsheng

doi:10.1007/s11432-013-4884-8

Cited by 8 publications

(9 citation statements)

References 24 publications

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“…In this section,the representation of 3D pose transformation is described in the same way as in previous researches, such as [9,10]. In order to guarantee the fluency of the presentation, we still utilize the most commonly used description of this problem.…”

Section: D Pose Representing As Elements Of Lie-algebrasmentioning

confidence: 99%

“…However, in monocular visual applications, the existed scale ambiguity problem is hard to solve by direct approach. Until recently [7][8][9], the precise and intact dense depth maps are computed with a variation formulation. However, its computational complexity is so large that a powerful GPU is required to guarantee the online availability.…”

Section: Introductionmentioning

confidence: 99%

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A Novel Metric Online Monocular SLAM Approach for Indoor Applications

Wang

Yang

et al. 2016

Scientific Programming

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Monocular SLAM has attracted more attention recently due to its flexibility and being economic. In this paper, a novel metric online direct monocular SLAM approach is proposed, which can obtain the metric reconstruction of the scene. In the proposed approach, a chessboard is utilized to provide initial depth map and scale correction information during the SLAM process. The involved chessboard provides the absolute scale of scene, and it is seen as a bridge between the camera visual coordinate and the world coordinate. The scene is reconstructed as a series of key frames with their poses and correlative semidense depth maps, using a highly accurate pose estimation achieved by direct grid point-based alignment. The estimated pose is coupled with depth map estimation calculated by filtering over a large number of pixelwise small-baseline stereo comparisons. In addition, this paper formulates the scale-drift model among key frames and the calibration chessboard is used to correct the accumulated pose error. At the end of this paper, several indoor experiments are conducted. The results suggest that the proposed approach is able to achieve higher reconstruction accuracy when compared with the traditional LSD-SLAM approach. And the approach can also run in real time on a commonly used computer.

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Section: D Pose Representing As Elements Of Lie-algebrasmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Novel Metric Online Monocular SLAM Approach for Indoor Applications

Wang

Yang

et al. 2016

Scientific Programming

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“…Cameras are cheap, light, and have low power requirements when compared to other sensors for localization such as laser scanners. 1,2 This makes them attractive sensors for low-cost situations or for applications where size and weight need to be tightly controlled, such as for micro aerial vehicles in a global navigation satellite system (GNSS)-denied environment. 3 In addition, cameras are also passive sensors, unlike sonar, radar, and laser scanners, which makes them useful in surveillance applications as they are difficult to detect and do not interfere with the environment they are observing.…”

Section: Introductionmentioning

confidence: 99%

Sensor to sensor calibration of the integrated INS/vision navigation system

Yang

Sun

Liu

et al. 2017

International Journal of Advanced Robotic Systems

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Due to the essential limitation of optical sensors, its integration with traditional Inertial Navigation System (INS) tends to be the focus in indoor navigation applications. In a low-cost INS/vision integrated navigation system, the relative position and gestures between slave systems are important coefficients. In order to solve the initial bias estimation problems involved in INS/vision integrated system, this article proposes a novel alignment approach based on the time-domain constraints. At first, on the basis of traditional initial alignment model, the time-domain constrained model is deduced, in which the time-related states and measurements are all modeled. In order to verify the advantage of state evaluability, both the traditional alignment model and the corresponding time-domain constrained model are analyzed via the nonlinear observability analysis method. At the end of this article, two groups of numerical simulations are implemented, and the corresponding results validate the effectiveness of the proposed time-domain constrained model.

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“…The original work presented in [1] was written by one of our authors. The work has been used in [2] and also has been acknowledged as a highly accurate pose estimation algorithm in [3] [4]. However, no effort has been made to parallelize the algorithm described in [1].…”

Section: Introductionmentioning

confidence: 99%

Acceleration of Points to Convex Region Correspondence Pose Estimation Algorithm on GPUs for Real-Time Applications

Kumar¹,

Muknahallipatna²,

McInroy³

2016

JCC

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In our previous work, a novel algorithm to perform robust pose estimation was presented. The pose was estimated using points on the object to regions on image correspondence. The laboratory experiments conducted in the previous work showed that the accuracy of the estimated pose was over 99% for position and 84% for orientation estimations respectively. However, for larger objects, the algorithm requires a high number of points to achieve the same accuracy. The requirement of higher number of points makes the algorithm, computationally intensive resulting in the algorithm infeasible for real-time computer vision applications. In this paper, the algorithm is parallelized to run on NVIDIA GPUs. The results indicate that even for objects having more than 2000 points, the algorithm can estimate the pose in real time for each frame of high-resolution videos.

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Simultaneous estimation of ego-motion and vehicle distance by using a monocular camera

Cited by 8 publications

References 24 publications

A Novel Metric Online Monocular SLAM Approach for Indoor Applications

A Novel Metric Online Monocular SLAM Approach for Indoor Applications

Sensor to sensor calibration of the integrated INS/vision navigation system

Acceleration of Points to Convex Region Correspondence Pose Estimation Algorithm on GPUs for Real-Time Applications

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