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Bundle adjustment using single-track vehicle model

Jonas Nilsson (Institutionen för signaler och system, Mekatronik) ; Jonas Fredriksson (Institutionen för signaler och system, Mekatronik) ; A.C.E. Ödblom
Proceedings - IEEE International Conference on Robotics and Automation (1050-4729). p. 2888-2893. (2013)
[Konferensbidrag, refereegranskat]

This paper describes a method for estimating the 6-DoF viewing parameters of a calibrated vehicle-mounted camera. Visual features are combined with standard in-vehicle sensors and a single-track vehicle motion model in a bundle adjustment framework to produce a jointly optimal viewing parameter estimate. Results show that the vehicle motion model in combination with in-vehicle sensors exhibit good accuracy in estimating planar vehicle motion. This property is preserved, when combining these information sources with vision. Furthermore, the accuracy obtained from vision-only in direction estimation is not only maintained, but in fact further improved, primarily in situations where the matched visual features are few.

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Denna post skapades 2013-11-28. Senast ändrad 2014-01-22.
CPL Pubid: 187713


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Institutioner (Chalmers)

Institutionen för signaler och system, Mekatronik (2005-2017)


Elektroteknik och elektronik

Chalmers infrastruktur