Visual odometry based on stereo image sequences with RANSAC-based outlier rejection scheme

Bernd Kitt, Andreas Geiger, Henning Lategahn
2010 2010 IEEE Intelligent Vehicles Symposium  
A common prerequisite for many vision-based driver assistance systems is the knowledge of the vehicle's own movement. In this paper we propose a novel approach for estimating the egomotion of the vehicle from a sequence of stereo images. Our method is directly based on the trifocal geometry between image triples, thus no time expensive recovery of the 3-dimensional scene structure is needed. The only assumption we make is a known camera geometry, where the calibration may also vary over time.
more » ... employ an Iterated Sigma Point Kalman Filter in combination with a RANSAC-based outlier rejection scheme which yields robust frame-to-frame motion estimation even in dynamic environments. A high-accuracy inertial navigation system is used to evaluate our results on challenging real-world video sequences. Experiments show that our approach is clearly superior compared to other filtering techniques in terms of both, accuracy and run-time.
doi:10.1109/ivs.2010.5548123 dblp:conf/ivs/KittGL10 fatcat:z3cyiz3skzfv7clkr2lwxm3mxu