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CLC number: TP391.4
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Received: 2007-08-24
Revision Accepted: 2007-10-30
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Visual odometry for road vehicles—feasibility analysis
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SOTELO Miguel-angel, GARCÍA Roberto, PARRA Ignacio, FERNÁNDEZ David, GAVILÁN Miguel, ÁLVAREZ Sergio, NARANJO José-eugenio. Visual odometry for road vehicles—feasibility analysis[J]. Journal of Zhejiang University Science A, 2007, 8(12): 2017-2020.
@article{title="Visual odometry for road vehicles—feasibility analysis",
author="SOTELO Miguel-angel, GARCÍA Roberto, PARRA Ignacio, FERNÁNDEZ David, GAVILÁN Miguel, ÁLVAREZ Sergio, NARANJO José-eugenio",
journal="Journal of Zhejiang University Science A",
volume="8",
number="12",
pages="2017-2020",
year="2007",
publisher="Zhejiang University Press & Springer",
doi="10.1631/jzus.2007.A2017"
}
%0 Journal Article
%T Visual odometry for road vehicles—feasibility analysis
%A SOTELO Miguel-angel
%A GARCÍ
%A A Roberto
%A PARRA Ignacio
%A FERNÁ
%A NDEZ David
%A GAVILÁ
%A N Miguel
%A Á
%A LVAREZ Sergio
%A NARANJO José
%A -eugenio
%J Journal of Zhejiang University SCIENCE A
%V 8
%N 12
%P 2017-2020
%@ 1673-565X
%D 2007
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.2007.A2017
TY - JOUR
T1 - Visual odometry for road vehicles—feasibility analysis
A1 - SOTELO Miguel-angel
A1 - GARCÍ
A1 - A Roberto
A1 - PARRA Ignacio
A1 - FERNÁ
A1 - NDEZ David
A1 - GAVILÁ
A1 - N Miguel
A1 - Á
A1 - LVAREZ Sergio
A1 - NARANJO José
A1 - -eugenio
J0 - Journal of Zhejiang University Science A
VL - 8
IS - 12
SP - 2017
EP - 2020
%@ 1673-565X
Y1 - 2007
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/jzus.2007.A2017
Abstract: Estimating the global position of a road vehicle without using GPS is a challenge that many scientists look forward to solving in the near future. Normally, inertial and odometry sensors are used to complement GPS measures in an attempt to provide a means for maintaining vehicle odometry during GPS outage. Nonetheless, recent experiments have demonstrated that computer vision can also be used as a valuable source to provide what can be denoted as visual odometry. For this purpose, vehicle motion can be estimated using a non-linear, photogrametric approach based on RAndom SAmple Consensus (RANSAC). The results prove that the detection and selection of relevant feature points is a crucial factor in the global performance of the visual odometry algorithm. The key issues for further improvement are discussed in this letter.
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