Abstract
We propose a robust approach to the problem of ego-motion estimation using a mobile stereo platform. Stereo is computed for every frame obtaining 3D points of the environment. In addition optical flow establishes correspondences between points in successive frames. A smoothness motion constraint is applied in order to detect flow vectors which are inconsistent with the current ego-motion. The optimal rotation and translation between the resulting clouds of static points is then computed using a closed form solution based on unit quaternions, providing the motion between the current and previous frame. Stabilization and a better estimation are achieved computing the observed motion between the current frame and many frames in the past in a multi-frame fashion. The integration of successive movements allows the reconstruction of the travelled path. Experimental results with sequences covering more than 1.5 kilometers of travelled distance are presented and compared with GPS and odometry.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Morency, L.P., Darrell, T.: Stereo tracking using icp and normal flow constraint. In: Proceedings of International Conference on Pattern Recognition, Quebec, Canada (2002)
Demirdjian, D., Horaud, R.: Motion-egomotion discrimination and motion segmentation from image pair streams. Computer Vision and Image Understanding 78(1), 53–68 (2000)
Demirdjian, D., Darrel, T.: Motion estimation from disparity images. In: Technical Report AI Memo 2001-009, MIT Artificial Intelligence Laboratory (2001)
Mallet, A., Lacroix, S., Gallo, L.: Position estimation in outdoor environments using pixel tracking and stereovision. In: Proceedings of the 2000 IEEE International Conference on Robotics and Automation, ICRA 2000, San Francisco, pp. 3519–3524 (2000)
Mandelbaum, R., Slagian, G., Sawhney, H.: Correlation-based estimation of ego-motion and structure from motion and stereo. In: Proceedings of the Internation Conference on Computer Vision (ICCV’98), Kerkyra, Greece, pp. 544–550 (1999)
Matthies, L., Shafer, S.A.: Error modeling in stereo navigation. IEEE Journal of Robotics and Automation RA-3(3), 239–248 (1987)
Olson, C.F., Matthies, L.H., Schoppers, M., Maimone, M.W.: Rover navigation using stereo ego-motion. Robotics and Autonomous Systems 43(4), 215–229 (2003)
van der Mark, W., Fontijne, D., Dorst, L., Groen, F.C.: Vehicle ego-motion estimation with geometric algebra. In: Proceedings IEEE Intelligent Vehicle Symposium, Versialles, France, May 18-20 (2002)
Suzuki, T., Kanade, T.: Measurements of vehicle motion using optical flow. In: IEEE Conference on Intelligent Transportation Systems, Tokyo, Japan (1999)
Bruss, A.R., Horn, B.K.: Passive navigation. Computer Vision, Graphics, and Image Processing 21(1), 3–20 (1983)
Stein, G.P., Mano, O., Shashua, A.: A robust method for computing vehicle ego-motion. In: IEEE Intelligent Vehicles Symposium (IV2000), Dearborn, MI (2000)
Tomasi, C., Kanade, T.: Shape and motion from image streams: a factorization method – 3. detection and tracking of point features. Technical Report CMU-CS-91-132, School of CS – CMU (1991)
Carlsson, S.: Recursive estimation of ego-motion and scene structure from a moving platform. In: Proc. 7th Scand. Conf. on Image Analysis, Aalborg, pp. 958–965 (1991)
Horn, B.K.P.: Closed-form solution of absolute orientation using unit quaternions. Journal of the Optical Society of America A 4(4), 629–642 (1987)
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2007 Springer Berlin Heidelberg
About this paper
Cite this paper
Badino, H. (2007). A Robust Approach for Ego-Motion Estimation Using a Mobile Stereo Platform. In: Jähne, B., Mester, R., Barth, E., Scharr, H. (eds) Complex Motion. IWCM 2004. Lecture Notes in Computer Science, vol 3417. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-69866-1_15
Download citation
DOI: https://doi.org/10.1007/978-3-540-69866-1_15
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-69864-7
Online ISBN: 978-3-540-69866-1
eBook Packages: Computer ScienceComputer Science (R0)