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ZJUS-A
Journal of Zhejiang University-SCIENCE A (Applied Physics & Engineering)  2007, Vol. 8 Issue (12): 2017-2020    DOI: 10.1631/jzus.2007.A2017
Electrical & Electronic Engineering     
Visual odometry for road vehicles—feasibility analysis
SOTELO Miguel-angel, GARCÍA Roberto, PARRA Ignacio, FERNÁNDEZ David, GAVILÁN Miguel, ÁLVAREZ Sergio, NARANJO José-eugenio
Department of Electronics, University of Alcalá, Alcalá de Henares 28871, Spain; Department of Informatics, Industrial Automation Institute, CSIC, Madrid, Spain
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Abstract  Estimating the global position of a road vehicle without using GPS is a challenge that many scientists look forward to solving in the near future. Normally, inertial and odometry sensors are used to complement GPS measures in an attempt to provide a means for maintaining vehicle odometry during GPS outage. Nonetheless, recent experiments have demonstrated that computer vision can also be used as a valuable source to provide what can be denoted as visual odometry. For this purpose, vehicle motion can be estimated using a non-linear, photogrametric approach based on RAndom SAmple Consensus (RANSAC). The results prove that the detection and selection of relevant feature points is a crucial factor in the global performance of the visual odometry algorithm. The key issues for further improvement are discussed in this letter.

Key words： 3D visual odometry      Ego-motion estimation      RAndom SAmple Consensus (RANSAC)      Photogrametric approach     
Received: 24 August 2007     
CLC:  TP391.4  
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SOTELO Miguel-angel
GARCÍA Roberto
PARRA Ignacio
FERNÁNDEZ David
GAVILÁN Miguel
ÁLVAREZ Sergio
NARANJO José-eugenio
Cite this article:

SOTELO Miguel-angel, GARCÍA Roberto, PARRA Ignacio, FERNÁNDEZ David, GAVILÁN Miguel, ÁLVAREZ Sergio, NARANJO José-eugenio. Visual odometry for road vehicles—feasibility analysis. Journal of Zhejiang University-SCIENCE A (Applied Physics & Engineering), 2007, 8(12): 2017-2020.

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http://www.zjujournals.com/xueshu/zjus-a/10.1631/jzus.2007.A2017     OR     http://www.zjujournals.com/xueshu/zjus-a/Y2007/V8/I12/2017

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