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ICP stereo visual odometry for wheeled vehicles based on a 1DOF motion prior


Jiang, Yanhua; Chen, Huiyan; Xiong, Guangming; Scaramuzza, Davide (2014). ICP stereo visual odometry for wheeled vehicles based on a 1DOF motion prior. In: IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 31 May 2014 - 7 June 2014.

Abstract

In this paper, we propose a novel, efficient stereo visual-odometry algorithm for ground vehicles moving in outdoor environments. To avoid the drawbacks of computationally-expensive outlier-removal steps based on random-sample schemes, we use a single-degree-of-freedom kinematic model of the vehicle to initialize an Iterative Closest Point (ICP) algorithm that is utilized to select high-quality inliers. The motion is then computed incrementally from the inliers using a standard linear 3D-to-2D pose-estimation method without any additional batch optimization. The performance of the approach is evaluated against state-of-the-art methods on both synthetic data and publicly-available datasets (e.g., KITTI and Devon Island) collected over several kilometers in both urban environments and challenging off-road terrains. Experiments show that the our algorithm outperforms state-of-the-art approaches in accuracy, runtime, and ease of implementation.

Abstract

In this paper, we propose a novel, efficient stereo visual-odometry algorithm for ground vehicles moving in outdoor environments. To avoid the drawbacks of computationally-expensive outlier-removal steps based on random-sample schemes, we use a single-degree-of-freedom kinematic model of the vehicle to initialize an Iterative Closest Point (ICP) algorithm that is utilized to select high-quality inliers. The motion is then computed incrementally from the inliers using a standard linear 3D-to-2D pose-estimation method without any additional batch optimization. The performance of the approach is evaluated against state-of-the-art methods on both synthetic data and publicly-available datasets (e.g., KITTI and Devon Island) collected over several kilometers in both urban environments and challenging off-road terrains. Experiments show that the our algorithm outperforms state-of-the-art approaches in accuracy, runtime, and ease of implementation.

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Additional indexing

Item Type:Conference or Workshop Item (Paper), refereed, original work
Communities & Collections:03 Faculty of Economics > Department of Informatics
Dewey Decimal Classification:000 Computer science, knowledge & systems
Language:English
Event End Date:7 June 2014
Deposited On:12 Aug 2016 08:18
Last Modified:30 Jan 2017 08:34
Publisher:Institute of Electrical and Electronics Engineers
Series Name:IEEE International Conference on Robotics and Automation. Proceedings
ISSN:1050-4729
Publisher DOI:https://doi.org/10.1109/ICRA.2014.6906914
Related URLs:http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6906914 (Publisher)
http://www.icra2014.com/ (Organisation)
Other Identification Number:merlin-id:10215

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