An improved binocular visual odometry for high-speed automotive applications

Yu Huan, Chen Jiabin, Wang Liujun, Xie Ling, Song Chunlei, Wu Qinghe

科研成果: 书/报告/会议事项章节会议稿件同行评审

摘要

In this paper, we present an improved motion estimation method by adding extra information for binocular visual odometry (VO) which is especially suited for improving high-speed pose change estimation. The extra information is obtained by structured object detecting, taking lane line detection as an example. We can get an accurate position information by calculating the interval of each dotted lane line and counting the number of the dotted line which can be fused with the pose information obtained from visual odometry. The outlier rejection of the VO is also improved, making it adapt to highway situation. In the fusion process, a Kalman filter is adopted to estimate the motion and location information for a high speed vehicle. The experimental results show that the approach proposed is valid and can increase the positioning accuracy significantly compared with ordinary visual odometry.

源语言英语
主期刊名Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017
出版商Institute of Electrical and Electronics Engineers Inc.
185-190
页数6
ISBN(电子版)9781509046560
DOI
出版状态已出版 - 12 7月 2017
活动29th Chinese Control and Decision Conference, CCDC 2017 - Chongqing, 中国
期限: 28 5月 201730 5月 2017

出版系列

姓名Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017

会议

会议29th Chinese Control and Decision Conference, CCDC 2017
国家/地区中国
Chongqing
时期28/05/1730/05/17

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引用此

Huan, Y., Jiabin, C., Liujun, W., Ling, X., Chunlei, S., & Qinghe, W. (2017). An improved binocular visual odometry for high-speed automotive applications. 在 Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017 (页码 185-190). 文章 7978089 (Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCDC.2017.7978089