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Solving the PnP Problem for Visual Odometry – An Evaluation of Methodologies for Mobile Robots

  • Dominik Aufderheide
  • Werner Krybus
  • Ulf Witkowski
  • Gerard Edwards
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7429)

Abstract

The general procedure of visual odomentry (VO) for a mobile robot based on a monocular image stream can be subdivided into different subtasks. The minimal configuration of a VO framework illustrated in the following figure contains three major subtasks: feature handling, structure recovery and motion recovery. The motion recovery is solved by incorporation of general ideas from the fields of photogrammety and stereo vision, where homologous image information is used to derive the geometrical (epipolar) relations between two different images captured from different viewpoints.

Keywords

Mobile Robot Stereo Vision Point Correspondence Visual Odometry Motion Recovery 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

References

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    Stewenius, H., Engels, C., Nister, D.: Recent developments on direct relative orientation. ISPRS Journal of Photogrammetry and Remote Sensing 60(4), 284–294 (2006)CrossRefGoogle Scholar
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    Lepetit, V., Moreno-Noguer, F., Fua, P.: EPnP: An Accurate O(n) Solution to the PnP Problem. International Journal of Computer Vision 81(2), 155–166 (2008)CrossRefGoogle Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Dominik Aufderheide
    • 1
    • 2
  • Werner Krybus
    • 1
  • Ulf Witkowski
    • 1
  • Gerard Edwards
    • 2
  1. 1.Division SoestSouth Westphalia University of Applied SciencesSoestGermany
  2. 2.Faculty of Advanced Engineering & ScienceThe University of BoltonBoltonU.K.

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