Naslov
Improving the Egomotion Estimation by Correcting the Calibration Bias

Autori
Krešo, Ivan ; Šegvić, Siniša

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 10th International Conference on Computer Vision Theory and Applications / Jose Braz, Sebastiano Battiato and Francisco Imai - Berlin : SCITEPRESS, 2015, 1-10

ISBN
978-989-758-089-5

Skup
10th International Conference on Computer Vision Theory and Applications

Mjesto i datum
Berlin, Njemačka, 11.03.2015. - 14.03.2015

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Stereo Vision ; Camera Motion Estimation ; Visual Odometry ; Feature Tracking ; Camera Calibration ; Camera Model Bias ; Deformation Field.

Sažetak
We present a novel approach for improving the accuracy of the egomotion recovered from rectified stereoscopic video. The main idea of the proposed approach is to correct the camera calibration by exploiting the known groundtruth motion. The correction is described by a discrete deformation field over a rectangular superpixel lattice covering the whole image. The deformation field is recovered by optimizing the reprojection error of point feature correspondences in neighboring stereo frames under the groundtruth motion. We evaluate the proposed approach by performing leave one out evaluation experiments on a collection of KITTI sequences with common calibration parameters, by comparing the accuracy of stereoscopic visual odometry with original and corrected calibration parameters. The results suggest a clear and significant advantage of the proposed approach. Our best algorithm outperforms all other approaches based on two-frame correspondences on the KITTI odometry benchmark.

Izvorni jezik
Engleski

Znanstvena područja
Računarstvo

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