Robust Stereo Ego-Motion for Long Distance Navigation
Abstract
Several methods for computing observer motion from monocular and stereo image sequences have been proposed. However, accurate positioning over long distances requires a higher level of robustness than previously achieved. This paper describes several mechanisms for improving robustness in the context of a maximum-likelihood stereo ego-motion method. We demonstrate that even a robust system will accumulate super-linear error in the distance traveled due to increasing orientation errors. However, when an absolute orientation sensor is incorporated, the growth is reduced to linear in the distance traveled, grows much more slowly in practice. Our experiments, including a trial with 210 stereo pairs, indicate that these techniques can achieve errors below 1% of the distance traveled. This method has been implemented to run on-board a prototype Mars rover.
Cite
Text
Olson et al. "Robust Stereo Ego-Motion for Long Distance Navigation." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2000. doi:10.1109/CVPR.2000.854879Markdown
[Olson et al. "Robust Stereo Ego-Motion for Long Distance Navigation." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2000.](https://mlanthology.org/cvpr/2000/olson2000cvpr-robust/) doi:10.1109/CVPR.2000.854879BibTeX
@inproceedings{olson2000cvpr-robust,
title = {{Robust Stereo Ego-Motion for Long Distance Navigation}},
author = {Olson, Clark F. and Matthies, Larry H. and Schoppers, Marcel and Maimone, Mark W.},
booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition},
year = {2000},
pages = {2453-2458},
doi = {10.1109/CVPR.2000.854879},
url = {https://mlanthology.org/cvpr/2000/olson2000cvpr-robust/}
}