Continuous pose estimation for stereo vision based on UV disparity applied to visual odometry in urban environments

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Show simple item record Musleh Lancis, Basam Martín Gómez, David Armingol Moreno, José María Escalera Hueso, Arturo de la 2016-09-28T08:47:58Z 2016-09-28T08:47:58Z 2014
dc.identifier.bibliographicCitation Robotics and Automation (ICRA), 2014 IEEE International Conference on. : Ieee - The Institute Of Electrical And Electronics Engineers, Inc. Pp. 3983-3988
dc.identifier.isbn 978-1-4799-3685-4
dc.description.abstract Abstract: :This paper presents an autocalibration method to determine the pose of a stereo vision system based on knowing the geometry of the ground in front of the cameras. This pose changes considerably while the vehicle is driven, therefore it is good to know constantly the pose of the camera for several applications based on computer vision, such as advanced driver assistance systems, autonomous vehicles or robotics. These constant changes of the pose make interesting to be able to detect constantly the variations in its extrinsic parameters (height, pitch, roll). The validation of the autocalibration method is accomplished by a visual odometry implementation. A study of the improvement of the results of the visual odometry estimation taking into account the changes of the camera pose is presented, demonstrating the advantages of the autocalibration method.
dc.description.sponsorship This work was also supported by Spanish Government through the CICYT projects FEDORA (Grant TRA2010-20255-C03-01) and Driver Distraction Detector System (Grant TRA2011-29454-C03-02).
dc.format.extent 7
dc.format.mimetype application/pdf
dc.language.iso eng
dc.publisher IEEE
dc.rights © IEEE 2014
dc.subject.other Estimation
dc.subject.other Vehicles
dc.subject.other Visualization
dc.subject.other Calibration
dc.subject.other Cameras
dc.subject.other Trajectory
dc.subject.other Roads
dc.title Continuous pose estimation for stereo vision based on UV disparity applied to visual odometry in urban environments
dc.type conferenceObject
dc.type bookPart
dc.subject.eciencia Robótica e Informática Industrial
dc.rights.accessRights openAccess
dc.relation.projectID Gobierno de España. TRA2010-20255-C03-01
dc.relation.projectID Gobierno de España. TRA2011-29454-C03-02
dc.relation.projectID Gobierno de España. TRA2013-48314-C3-1-R
dc.type.version acceptedVersion
dc.relation.eventdate 31 May - 7 June 2014
dc.relation.eventplace Hong Kong, China
dc.relation.eventtitle IEEE International Conference on Robotics and Automation (ICRA 2014)
dc.relation.eventtype proceeding
dc.identifier.publicationfirstpage 3983
dc.identifier.publicationlastpage 3988
dc.identifier.publicationtitle Robotics and Automation (ICRA), 2014 IEEE International Conference on
dc.identifier.uxxi CC/0000023328
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