Scipediacontent: Scipediacontent moved page Draft Content 207681672 to Schwarze et al 2015a

2021-02-02T07:28:47Z

Scipediacontent moved page Draft Content 207681672 to Schwarze et al 2015a

Scipediacontent: Created page with " == Abstract == While monocular visual odometry has been widely investigated, one of its key issues restrains its broad appliance: the scale drift. To tackle it, we leverage..."

2021-02-02T07:28:44Z

Created page with " == Abstract == While monocular visual odometry has been widely investigated, one of its key issues restrains its broad appliance: the scale drift. To tackle it, we leverage..."

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== Abstract ==

While monocular visual odometry has been widely investigated, one of its key issues restrains its broad appliance: the scale drift. To tackle it, we leverage scene inherent information about the ground plane to estimate the scale for usage on Advanced Driver Assistance Systems. The algorithm is conceived so that it is independent of the unscaled ego-motion estimation, augmenting its adaptability to other frameworks. A ground plane estimation using Structure From Motion techniques is complemented by a vanishing point estimation to render our algorithm robust in urban scenarios. The method is evaluated on the KITTI dataset, outperforming state of the art algorithms in areas where urban scenery is dominant.

== Original document ==

The different versions of the original document can be found in:

* [http://www.mrt.kit.edu/z/publ/download/IV_Paper_2015_JG_non_ieee.pdf http://www.mrt.kit.edu/z/publ/download/IV_Paper_2015_JG_non_ieee.pdf]

* [http://www.mrt.kit.edu/z/publ/download/IV_Paper_2015_JG_non_ieee.pdf http://www.mrt.kit.edu/z/publ/download/IV_Paper_2015_JG_non_ieee.pdf],
: [https://dblp.uni-trier.de/db/conf/ivs/ivs2015.html#GraterSL15 https://dblp.uni-trier.de/db/conf/ivs/ivs2015.html#GraterSL15],
: [https://ieeexplore.ieee.org/document/7225730 https://ieeexplore.ieee.org/document/7225730],
: [https://dx.doi.org/10.1109/IVS.2015.7225730 https://dx.doi.org/10.1109/IVS.2015.7225730],
: [http://ieeexplore.ieee.org/document/7225730 http://ieeexplore.ieee.org/document/7225730],
: [http://dx.doi.org/10.1109/IVS.2015.7225730 http://dx.doi.org/10.1109/IVS.2015.7225730],
: [https://academic.microsoft.com/#/detail/1545092130 https://academic.microsoft.com/#/detail/1545092130]

* [http://xplorestaging.ieee.org/ielx7/7180136/7225648/07225730.pdf?arnumber=7225730 http://xplorestaging.ieee.org/ielx7/7180136/7225648/07225730.pdf?arnumber=7225730],
: [http://dx.doi.org/10.1109/ivs.2015.7225730 http://dx.doi.org/10.1109/ivs.2015.7225730]

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Schwarze et al 2015a - Revision history

Scipediacontent: Scipediacontent moved page Draft Content 207681672 to Schwarze et al 2015a

Scipediacontent: Created page with " == Abstract == While monocular visual odometry has been widely investigated, one of its key issues restrains its broad appliance: the scale drift. To tackle it, we leverage..."