Bundle adjustment using single-track vehicle model
Paper in proceedings, 2013

This paper describes a method for estimating the 6-DoF viewing parameters of a calibrated vehicle-mounted camera. Visual features are combined with standard in-vehicle sensors and a single-track vehicle motion model in a bundle adjustment framework to produce a jointly optimal viewing parameter estimate. Results show that the vehicle motion model in combination with in-vehicle sensors exhibit good accuracy in estimating planar vehicle motion. This property is preserved, when combining these information sources with vision. Furthermore, the accuracy obtained from vision-only in direction estimation is not only maintained, but in fact further improved, primarily in situations where the matched visual features are few.


Jonas Nilsson

Chalmers, Signals and Systems, Systems and control, Mechatronics

Jonas Fredriksson

Chalmers, Signals and Systems, Systems and control, Mechatronics

Anders Ödblom

Volvo Cars

Proceedings - IEEE International Conference on Robotics and Automation

10504729 (ISSN)

2888-2893 6630977

Areas of Advance


Subject Categories

Electrical Engineering, Electronic Engineering, Information Engineering





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