TY - GEN
T1 - Reliable frame-to-frame motion estimation for vehicle-mounted surround-view camera systems
AU - Wang, Yifu
AU - Huang, Kun
AU - Peng, Xin
AU - Li, Hongdong
AU - Kneip, Laurent
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/5
Y1 - 2020/5
N2 - Modern vehicles are often equipped with a surround-view multi-camera system. The current interest in autonomous driving invites the investigation of how to use such systems for a reliable estimation of relative vehicle displacement. Existing camera pose algorithms either work for a single camera, make overly simplified assumptions, are computationally expensive, or simply become degenerate under non-holonomic vehicle motion. In this paper, we introduce a new, reliable solution able to handle all kinds of relative displacements in the plane despite the possibly non-holonomic characteristics. We furthermore introduce a novel two-view optimization scheme which minimizes a geometrically relevant error without relying on 3D point related optimization variables. Our method leads to highly reliable and accurate frame-to-frame visual odometry with a full-size, vehicle-mounted surround-view camera system.
AB - Modern vehicles are often equipped with a surround-view multi-camera system. The current interest in autonomous driving invites the investigation of how to use such systems for a reliable estimation of relative vehicle displacement. Existing camera pose algorithms either work for a single camera, make overly simplified assumptions, are computationally expensive, or simply become degenerate under non-holonomic vehicle motion. In this paper, we introduce a new, reliable solution able to handle all kinds of relative displacements in the plane despite the possibly non-holonomic characteristics. We furthermore introduce a novel two-view optimization scheme which minimizes a geometrically relevant error without relying on 3D point related optimization variables. Our method leads to highly reliable and accurate frame-to-frame visual odometry with a full-size, vehicle-mounted surround-view camera system.
UR - http://www.scopus.com/inward/record.url?scp=85092725942&partnerID=8YFLogxK
U2 - 10.1109/ICRA40945.2020.9197176
DO - 10.1109/ICRA40945.2020.9197176
M3 - Conference contribution
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1660
EP - 1666
BT - 2020 IEEE International Conference on Robotics and Automation, ICRA 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE International Conference on Robotics and Automation, ICRA 2020
Y2 - 31 May 2020 through 31 August 2020
ER -