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Error Propagation in Monocular Navigation for Zinf Compared to Eightpoint Algorithm

Mair, Elmar and Suppa, Michael and Burschka, Darius (2013) Error Propagation in Monocular Navigation for Zinf Compared to Eightpoint Algorithm. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (ISSN: 1042-296X). IEEE/RSJ. IROS 2013, 2-8 Nov 2013, Tokyo. ISSN 1042-296X

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Efficient visual pose estimation plays an important role for a variety of applications. To improve the quality, the measurements from different sensors can be fused. However, a reliable fusion requires the knowledge of the uncertainty of each estimate. In this work, we provide an error analysis for the Zinf algorithm. Furthermore, we extend the existing first-order error propagation for the 8-point algorithm to allow for feature normalization, as proposed by Hartley or Mühlich, and the rotation matrix based decomposition. Both methods are efficient visual odometry techniques which allow high frame-rates and, thus, dynamic motions in unbounded workspaces. Finally, we provide experiments which validate the accuracy of the error propagation and which enable a brief comparison, showing that the Zinf significantly outperforms the 8-point algorithm. We also discuss the influence of the number of features, the aperture angle, and the image resolution on the accuracy of the pose estimation.

Item URL in elib:https://elib.dlr.de/85499/
Document Type:Conference or Workshop Item (Speech)
Title:Error Propagation in Monocular Navigation for Zinf Compared to Eightpoint Algorithm
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Mair, Elmarelmar.mair (at) dlr.deUNSPECIFIED
Suppa, MichaelMichael.Suppa (at) dlr.deUNSPECIFIED
Burschka, DariusDarius.Burschka (at) dlr.deUNSPECIFIED
Date:November 2013
Journal or Publication Title:IEEE/RSJ International Conference on Intelligent Robots and Systems (ISSN: 1042-296X)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Keywords:monocular pose estimation perturbation analysis uncertainty propagation
Event Title:IROS 2013
Event Location:Tokyo
Event Type:international Conference
Event Dates:2-8 Nov 2013
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Robotische Exploration (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Mair, Elmar
Deposited On:17 Dec 2013 12:53
Last Modified:31 Jul 2019 19:43

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