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Optimal Partial Rotation Error for Vehicle Motion Estimation Based on Omnidirectional Camera

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Computational Collective Intelligence. Technologies and Applications (ICCCI 2014)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 8733))

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Abstract

This paper presents a method for robust motion estimation using an optimal partial rotation error based on spirits of the rotation averaging and the minimum spanning tree approaches. The advantage of an omnidirectional camera is that allows tracking landmarks over long-distance travel and large rotation of vehicle motions. The method does not process the optimal rotation at every frame due to the computational time, instead that, the optimal rotation error is applied for each interval of motion called partial motion so that the set of landmarks are tracked in all sequent images. This approach takes advantage of partial optimal error for reducing the divergences of estimated trajectory results in long-distance travel. The global motion of the vehicle is estimated in high accuracy based on utility of the optimal partial rotation error based on the rotation averaging method, which contrasts with traditional bundle adjustment using the minimum Euclid distance of back-projection errors. The experimental results demonstrate the effectiveness of this method under the large view scene in the outdoor environments.

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Authors and Affiliations

  1. Graduated School of Electrical Engineering, University of Ulsan, Ulsan, Korea

    Van-Dung Hoang & Kang-Hyun Jo

Authors
  1. Van-Dung Hoang
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  2. Kang-Hyun Jo
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Editor information

Editors and Affiliations

  1. Department of Computer Engineering, Yeungnam University, Korea

    Dosam Hwang  & Jason J. Jung  & 

  2. Institute of Informatics, Wroclaw University of Technology, Wybrzeze Wyspianskiego 27, 50-370, Wroclaw, Poland

    Ngoc-Thanh Nguyen

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© 2014 Springer International Publishing Switzerland

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Hoang, VD., Jo, KH. (2014). Optimal Partial Rotation Error for Vehicle Motion Estimation Based on Omnidirectional Camera. In: Hwang, D., Jung, J.J., Nguyen, NT. (eds) Computational Collective Intelligence. Technologies and Applications. ICCCI 2014. Lecture Notes in Computer Science(), vol 8733. Springer, Cham. https://doi.org/10.1007/978-3-319-11289-3_30

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  • DOI: https://doi.org/10.1007/978-3-319-11289-3_30

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-11288-6

  • Online ISBN: 978-3-319-11289-3

  • eBook Packages: Computer ScienceComputer Science (R0)

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