Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Stereo Visual Odometry without Relying on RANSAC for the Measurement of Vehicle Motion

차량의 모션계측을 위한 RANSAC 의존 없는 스테레오 영상 거리계

  • Song, Gwang-Yul (Department of Industrial Engineering, Chonnam National University) ;
  • Lee, Joon-Woong (Department of Industrial Engineering, Chonnam National University)
  • 송광열 (전남대학교 산업공학과) ;
  • 이준웅 (전남대학교 산업공학과)
  • Received : 2014.10.01
  • Accepted : 2014.12.16
  • Published : 2015.04.01
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Abstract

This paper addresses a new algorithm for a stereo visual odometry to measure the ego-motion of a vehicle. The new algorithm introduces an inlier grouping method based on Delaunay triangulation and vanishing point computation. Most visual odometry algorithms rely on RANSAC in choosing inliers. Those algorithms fluctuate largely in processing time between images and have different accuracy depending on the iteration number and the level of outliers. On the other hand, the new approach reduces the fluctuation in the processing time while providing accuracy corresponding to the RANSAC-based approaches.

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References

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