TY - GEN
T1 - Kinematic constraints in visual odometry of intelligent vehicles
AU - Jiang, Yanhua
AU - Chen, Huiyan
AU - Xiong, Guangming
AU - Gong, Jianwei
AU - Jiang, Yan
PY - 2012
Y1 - 2012
N2 - This paper presents a novel method to realize on-board visual odometry system. Vehicular kinematic constrain is used in the motion estimation algorithms. The work is a extension from planar steering model to 3-dof in which vehicle's motion is modeled more reasonable and accurate. By virtue of appropriate simplification, the close-form solution of motion parameters can be obtained only need to find real roots of a cubic equation. Then optimization based refine method can bring the winner solution to accurate solution utilizing inliers founded. The algorithm has been tested on both simulation platform and real car test and achieved promising results.
AB - This paper presents a novel method to realize on-board visual odometry system. Vehicular kinematic constrain is used in the motion estimation algorithms. The work is a extension from planar steering model to 3-dof in which vehicle's motion is modeled more reasonable and accurate. By virtue of appropriate simplification, the close-form solution of motion parameters can be obtained only need to find real roots of a cubic equation. Then optimization based refine method can bring the winner solution to accurate solution utilizing inliers founded. The algorithm has been tested on both simulation platform and real car test and achieved promising results.
UR - http://www.scopus.com/inward/record.url?scp=84865011262&partnerID=8YFLogxK
U2 - 10.1109/IVS.2012.6232230
DO - 10.1109/IVS.2012.6232230
M3 - Conference contribution
AN - SCOPUS:84865011262
SN - 9781467321198
T3 - IEEE Intelligent Vehicles Symposium, Proceedings
SP - 1126
EP - 1131
BT - 2012 IEEE Intelligent Vehicles Symposium, IV 2012
T2 - 2012 IEEE Intelligent Vehicles Symposium, IV 2012
Y2 - 3 June 2012 through 7 June 2012
ER -