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Probabilistic Egomotion for Stereo Visual Odometry

2015Journal article Open access
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dc.contributor.authorSilva, Hugo
dc.contributor.authorBernardino, A.
dc.contributor.authorSilva, Eduardo
dc.date.accessioned2015-12-28T15:49:38Z
dc.date.available2015-12-28T15:49:38Z
dc.date.issued2015
dc.description.abstractWe present a novel approach of Stereo Visual Odometry for vehicles equipped with calibrated stereo cameras. We combine a dense probabilistic 5D egomotion estimation method with a sparse keypoint based stereo approach to provide high quality estimates of vehicle’s angular and linear velocities. To validate our approach, we perform two sets of experiments with a well known benchmarking dataset. First, we assess the quality of the raw velocity estimates in comparison to classical pose estimation algorithms. Second, we added to our method’s instantaneous velocity estimates a Kalman Filter and compare its performance with a well known open source stereo Visual Odometry library. The presented results compare favorably with state-of-the-art approaches, mainly in the estimation of the angular velocities, where significant improvements are achieved.pt_PT
dc.identifier.doi10.1007/s10846-014-0054-5pt_PT
dc.identifier.issn1573-0409
dc.identifier.urihttp://hdl.handle.net/10400.22/7270
dc.language.isoengpt_PT
dc.publisherSpringerpt_PT
dc.relation.ispartofseriesJournal of Intelligent & Robotic Systems;Vol. 77, Issue 2
dc.relation.publisherversionhttp://link.springer.com/article/10.1007/s10846-014-0054-5pt_PT
dc.subjectStereo visionpt_PT
dc.subjectVisual Odometrypt_PT
dc.subjectEgomotionpt_PT
dc.subjectVisual Navigationpt_PT
dc.titleProbabilistic Egomotion for Stereo Visual Odometrypt_PT
dc.typejournal article
dspace.entity.typePublication
oaire.citation.endPage280pt_PT
oaire.citation.startPage265pt_PT
oaire.citation.titleJournal of Intelligent & Robotic Systemspt_PT
oaire.citation.volume77pt_PT
person.familyNameSilva
person.givenNameEduardo
person.identifier.ciencia-idC517-23DA-B09F
person.identifier.orcid0000-0001-7166-3459
person.identifier.ridM-7929-2014
person.identifier.scopus-author-id6507130721
rcaap.rightsopenAccesspt_PT
rcaap.typearticlept_PT
relation.isAuthorOfPublicationd0912771-16c3-4f41-a936-79a714e984fb
relation.isAuthorOfPublication.latestForDiscoveryd0912771-16c3-4f41-a936-79a714e984fb

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