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Avtomatika i Telemekhanika, 2022, Issue 10, Pages 9–22
DOI: https://doi.org/10.31857/S0005231022100026
(Mi at15870)
 

Topical issue

Visual odometry from the images of the reference surface with small interframe rotations

E. Yu. Minaeva, L. A. Zherdevaa, V. A. Fursovb

a Samara University, Samara, 443086 Russia
b Image Processing Systems Institute, a Branch of Federal Research Center “Crystallography and Photonics”, Samara, 443001 Russia
References:
Abstract: The paper considers the problem of visual odometry based on a sequence of video frames formed using a camera perpendicularly downward facing the reference surface. The problem is solved under the assumption that the shooting frequency is high, so that the interframe rotation and shift parameters are small. The technology is implemented in the form of a sequence of the following steps: determining the shift and rotation with an accuracy of an integer number of pixels using the correlation method, clarifying the shift and rotation parameters using the optical flow method, and correcting estimation errors associated with uneven motion and fluctuations in the distance of the camera to the reference surface by estimating deviations of local calibration characteristics from their mean values. The results of experimental studies of the technology on test trajectories obtained by simulating the motion of a vehicle along the reference surface are presented.
Keywords: visual odometry, reference surface, frame sequence, modeling.
Presented by the member of Editorial Board: A. A. Lazarev

Received: 23.01.2022
Revised: 14.04.2022
Accepted: 29.06.2022
English version:
Automation and Remote Control, 2022, Volume 83, Issue 10, Pages 1496–1506
DOI: https://doi.org/10.1134/S00051179220100022
Bibliographic databases:
Document Type: Article
Language: Russian
Citation: E. Yu. Minaev, L. A. Zherdeva, V. A. Fursov, “Visual odometry from the images of the reference surface with small interframe rotations”, Avtomat. i Telemekh., 2022, no. 10, 9–22; Autom. Remote Control, 83:10 (2022), 1496–1506
Citation in format AMSBIB
\Bibitem{MinZheFur22}
\by E.~Yu.~Minaev, L.~A.~Zherdeva, V.~A.~Fursov
\paper Visual odometry from the images of the reference surface with small interframe rotations
\jour Avtomat. i Telemekh.
\yr 2022
\issue 10
\pages 9--22
\mathnet{http://mi.mathnet.ru/at15870}
\crossref{https://doi.org/10.31857/S0005231022100026}
\edn{https://elibrary.ru/AJTRMC}
\transl
\jour Autom. Remote Control
\yr 2022
\vol 83
\issue 10
\pages 1496--1506
\crossref{https://doi.org/10.1134/S00051179220100022}
Linking options:
  • https://www.mathnet.ru/eng/at15870
  • https://www.mathnet.ru/eng/at/y2022/i10/p9
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    Avtomatika i Telemekhanika
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    Abstract page:110
    References:40
    First page:19
     
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