Bundle adjustment using single-track vehicle model
Paper i proceeding, 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.

Författare

Jonas Nilsson

Chalmers, Signaler och system, System- och reglerteknik, Mekatronik

Jonas Fredriksson

Chalmers, Signaler och system, System- och reglerteknik, Mekatronik

Anders Ödblom

Volvo Cars

Proceedings - IEEE International Conference on Robotics and Automation

10504729 (ISSN)

2888-2893 6630977

Styrkeområden

Transport

Ämneskategorier

Elektroteknik och elektronik

DOI

10.1109/ICRA.2013.6630977

ISBN

9781467356411

Mer information

Senast uppdaterat

2018-11-20