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Improved Visual Odometry based on Transitivity Error in Disparity Space: A Third-eye Approach

Authors:

Hsiang-Jen Chien,

Reinhard KletteAuthors Info & Claims

IVCNZ '14: Proceedings of the 29th International Conference on Image and Vision Computing New Zealand

Pages 72 - 77

https://doi.org/10.1145/2683405.2683427

Published: 19 November 2014 Publication History

Abstract

Accurate estimation of ego-motion heavily relies on correct point correspondences in the context of visual odometry. In order to ensure a metric reconstruction of camera motion, we can refer to the 3D structure of the scene. In this paper we present an indicator for evaluating the accuracy of stereo-based 3D point measurements as well as for filtering out low-confidence correspondences for ego-motion estimation. In a typical binocular system, the left and right images are matched to produce a disparity map. For a trinocular system, however, the map can be derived indirectly via disparity maps of both cameras with respect to the third camera. The difference between an explicitly matched disparity map and its indirect construction defines a transitivity error in disparity space (TED).

We evaluate the effectiveness of TED from different perspectives, using a trinocular vehicle-mounted vision system. Results presented in 3D Euclidean space, or in 2D images show improvements of more than 7.5%, indicating that, by taking TED into account, more consistency is ensured for ego-motion estimation.

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Cited By

Saleem NChien HRezaei MKlette R(2019)Effects of Ground Manifold Modeling on the Accuracy of Stixel CalculationsIEEE Transactions on Intelligent Transportation Systems10.1109/TITS.2018.287942920:10(3675-3687)Online publication date: Oct-2019
https://doi.org/10.1109/TITS.2018.2879429
Saleem NKlette RHuang F(2018)Use of a Confidence Map Towards Improved Multi-layer Stixel Segmentation2018 15th IEEE International Conference on Advanced Video and Signal Based Surveillance (AVSS)10.1109/AVSS.2018.8639171(1-6)Online publication date: Nov-2018
https://doi.org/10.1109/AVSS.2018.8639171
Saleem NChien HRezaei MKlette R(2017)Improved Stixel Estimation Based on Transitivity Analysis in Disparity SpaceComputer Analysis of Images and Patterns10.1007/978-3-319-64689-3_3(28-40)Online publication date: 28-Jul-2017
https://doi.org/10.1007/978-3-319-64689-3_3

Index Terms

Improved Visual Odometry based on Transitivity Error in Disparity Space: A Third-eye Approach
1. Computing methodologies
  1. Artificial intelligence
    1. Computer vision
      1. Computer vision problems
      2. Computer vision tasks
        Scene understanding

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cover image ACM Other conferences

IVCNZ '14: Proceedings of the 29th International Conference on Image and Vision Computing New Zealand

November 2014

298 pages

ISBN:9781450331845

DOI:10.1145/2683405

Co-chairs:
John Perrone,
Michael Mayo,
Anthony Blake,
General Chair:
Michael J. Cree,
Publications Chair:
Lee Streeter

Copyright © 2014 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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The University of Waikato

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 19 November 2014

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IVCNZ '14

IVCNZ '14: The 29th International Conference on Image and Vision Computing New Zealand

November 19 - 21, 2014

Hamilton, New Zealand

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IVCNZ '14 Paper Acceptance Rate 55 of 74 submissions, 74%;

Overall Acceptance Rate 55 of 74 submissions, 74%

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Cited By

Saleem NChien HRezaei MKlette R(2019)Effects of Ground Manifold Modeling on the Accuracy of Stixel CalculationsIEEE Transactions on Intelligent Transportation Systems10.1109/TITS.2018.287942920:10(3675-3687)Online publication date: Oct-2019
https://doi.org/10.1109/TITS.2018.2879429
Saleem NKlette RHuang F(2018)Use of a Confidence Map Towards Improved Multi-layer Stixel Segmentation2018 15th IEEE International Conference on Advanced Video and Signal Based Surveillance (AVSS)10.1109/AVSS.2018.8639171(1-6)Online publication date: Nov-2018
https://doi.org/10.1109/AVSS.2018.8639171
Saleem NChien HRezaei MKlette R(2017)Improved Stixel Estimation Based on Transitivity Analysis in Disparity SpaceComputer Analysis of Images and Patterns10.1007/978-3-319-64689-3_3(28-40)Online publication date: 28-Jul-2017
https://doi.org/10.1007/978-3-319-64689-3_3

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