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Visual odometry using a homography formulation with decoupled rotation and translation estimation using minimal solutions

Guan, Banglei and Vasseur, Pascal and Demonceaux, Cedric and Fraundorfer, Friedrich (2018) Visual odometry using a homography formulation with decoupled rotation and translation estimation using minimal solutions. In: IEEE International Conference on Robotics and Automation, pp. 1-9. International Conference on Robotics and Automation (ICRA) 2018, 21.-25. Mai 2018, Brisbane, Australia.

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Official URL: https://hal.archives-ouvertes.fr/hal-01756773

Abstract

In this paper we present minimal solutions for two-view relative motion estimation based on a homography formulation. By assuming a known vertical direction (e.g. from an IMU) and assuming a dominant ground plane we demonstrate that rotation and translation estimation can be decoupled. This result allows us to reduce the number of point matches needed to compute a motion hypothesis. We then derive different algorithms based on this decoupling that allow an efficient estimation. We also demonstrate how these algorithms can be used efficiently to compute an optimal inlier set using exhaustive search or histogram voting instead of a traditional RANSAC step. Our methods are evaluated on synthetic data and on the KITTI data set, demonstrating that our methods are well suited for visual odometry in road driving scenarios.

Item URL in elib:https://elib.dlr.de/120647/
Document Type:Conference or Workshop Item (Speech)
Title:Visual odometry using a homography formulation with decoupled rotation and translation estimation using minimal solutions
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Guan, BangleiCollege of Aerospace Science and Engineering, Nat. University of Defense Technology, ChinaUNSPECIFIED
Vasseur, PascalLITIS, Universite de Rouen, FranceUNSPECIFIED
Demonceaux, CedricUniversite Bourgogne Franche-Comte´, FranceUNSPECIFIED
Fraundorfer, Friedrichfriedrich.fraundorfer (at) dlr.deUNSPECIFIED
Date:2018
Journal or Publication Title:IEEE International Conference on Robotics and Automation
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Page Range:pp. 1-9
Status:Published
Keywords:visual odometry, homography formulation, decoupled rotaion, Translation estimation, minimal solution
Event Title:International Conference on Robotics and Automation (ICRA) 2018
Event Location:Brisbane, Australia
Event Type:international Conference
Event Dates:21.-25. Mai 2018
Organizer:IEEE robotics and Automation Society
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Traffic Management (old)
DLR - Research area:Transport
DLR - Program:V VM - Verkehrsmanagement
DLR - Research theme (Project):V - Vabene++ (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Remote Sensing Technology Institute > Photogrammetry and Image Analysis
Deposited By: Zielske, Mandy
Deposited On:03 Jul 2018 18:23
Last Modified:31 Jul 2019 20:18

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