Continuous pose estimation for stereo vision based on UV disparity applied to visual odometry in urban environments


== Abstract ==

 :This paper presents an autocalibration method to determine the pose of a stereo vision system based on knowing the geometry of the ground in front of the cameras. This pose changes considerably while the vehicle is driven, therefore it is good to know constantly the pose of the camera for several applications based on computer vision, such as advanced driver assistance systems, autonomous vehicles or robotics. These constant changes of the pose make interesting to be able to detect constantly the variations in its extrinsic parameters (height, pitch, roll). The validation of the autocalibration method is accomplished by a visual odometry implementation. A study of the improvement of the results of the visual odometry estimation taking into account the changes of the camera pose is presented, demonstrating the advantages of the autocalibration method. This work was also supported by Spanish Government through the CICYT projects FEDORA (Grant TRA2010-20255-C03-01) and Driver Distraction Detector System (Grant TRA2011-29454-C03-02).


== Original document ==

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

* [http://hdl.handle.net/10016/23654 http://hdl.handle.net/10016/23654]

* [https://e-archivo.uc3m.es/bitstream/10016/23654/1/continuos_ICRA_2016_ps.pdf https://e-archivo.uc3m.es/bitstream/10016/23654/1/continuos_ICRA_2016_ps.pdf]

* [http://xplorestaging.ieee.org/ielx7/6895053/6906581/06907437.pdf?arnumber=6907437 http://xplorestaging.ieee.org/ielx7/6895053/6906581/06907437.pdf?arnumber=6907437],
: [http://dx.doi.org/10.1109/icra.2014.6907437 http://dx.doi.org/10.1109/icra.2014.6907437]

* [https://dblp.uni-trier.de/db/conf/icra/icra2014.html#MuslehMAE14 https://dblp.uni-trier.de/db/conf/icra/icra2014.html#MuslehMAE14],
: [http://portal.uc3m.es/portal/page/portal/dpto_ing_sistemas_automatica/investigacion/lab_sist_inteligentes_old/publications/2014-ICRA.pdf http://portal.uc3m.es/portal/page/portal/dpto_ing_sistemas_automatica/investigacion/lab_sist_inteligentes_old/publications/2014-ICRA.pdf],
: [https://academic.microsoft.com/#/detail/1981778017 https://academic.microsoft.com/#/detail/1981778017]