Visual odometry based on a Bernoulli filter

Feihu Zhang, Daniel Clarke, Alois Knoll
2015 International Journal of Control, Automation and Systems  
In this paper, we propose a Bernoulli filter for estimating a vehicle's trajectory under random finite set (RFS) framework. In contrast to other approaches, ego-motion vector is considered as the state of an extended target while the features are considered as multiple measurements that originated from the target. The Bernoulli filter estimates the state of the extended target instead of tracking individual features, which presents a recursive filtering framework in the presence of high
more » ... ion uncertainty. Experimental results illustrate that the proposed approach exhibits good robustness under real traffic scenarios.
doi:10.1007/s12555-014-0192-3 fatcat:33qrfg7amzdfnkab3l7p3yj4xy