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http://dx.doi.org/10.5302/J.ICROS.2015.14.0106

Stereo Visual Odometry without Relying on RANSAC for the Measurement of Vehicle Motion  

Song, Gwang-Yul (Department of Industrial Engineering, Chonnam National University)
Lee, Joon-Woong (Department of Industrial Engineering, Chonnam National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.21, no.4, 2015 , pp. 321-329 More about this Journal
Abstract
This paper addresses a new algorithm for a stereo visual odometry to measure the ego-motion of a vehicle. The new algorithm introduces an inlier grouping method based on Delaunay triangulation and vanishing point computation. Most visual odometry algorithms rely on RANSAC in choosing inliers. Those algorithms fluctuate largely in processing time between images and have different accuracy depending on the iteration number and the level of outliers. On the other hand, the new approach reduces the fluctuation in the processing time while providing accuracy corresponding to the RANSAC-based approaches.
Keywords
visual odometry; feature detection; 3D-to-2D motion estimation; inlier grouping; stereo vision;
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Times Cited By KSCI : 3  (Citation Analysis)
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