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Authors: Ivan Krešo and Siniša Šegvić

Affiliation: University of Zagreb Faculty of Electrical Engineering and Computing, Croatia

Keyword(s): Stereo Vision, Camera Motion Estimation, Visual Odometry, Feature Tracking, Camera Calibration, Camera Model Bias, Deformation Field.

Related Ontology Subjects/Areas/Topics: Computer Vision, Visualization and Computer Graphics ; Device Calibration, Characterization and Modeling ; Image Formation and Preprocessing ; Motion, Tracking and Stereo Vision ; Stereo Vision and Structure from Motion ; Tracking and Visual Navigation

Abstract: We present a novel approach for improving the accuracy of the egomotion recovered from rectified stereoscopic video. The main idea of the proposed approach is to correct the camera calibration by exploiting the known groundtruth motion. The correction is described by a discrete deformation field over a rectangular superpixel lattice covering the whole image. The deformation field is recovered by optimizing the reprojection error of point feature correspondences in neighboring stereo frames under the groundtruth motion. We evaluate the proposed approach by performing leave one out evaluation experiments on a collection of KITTI sequences with common calibration parameters, by comparing the accuracy of stereoscopic visual odometry with original and corrected calibration parameters. The results suggest a clear and significant advantage of the proposed approach. Our best algorithm outperforms all other approaches based on two-frame correspondences on the KITTI odometry benchmark.

CC BY-NC-ND 4.0

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Paper citation in several formats:
Krešo, I. and Šegvić, S. (2015). Improving the Egomotion Estimation by Correcting the Calibration Bias. In Proceedings of the 10th International Conference on Computer Vision Theory and Applications (VISIGRAPP 2015) - Volume 1: VISAPP; ISBN 978-989-758-091-8; ISSN 2184-4321, SciTePress, pages 347-356. DOI: 10.5220/0005316103470356

@conference{visapp15,
author={Ivan Krešo. and Siniša Šegvić.},
title={Improving the Egomotion Estimation by Correcting the Calibration Bias},
booktitle={Proceedings of the 10th International Conference on Computer Vision Theory and Applications (VISIGRAPP 2015) - Volume 1: VISAPP},
year={2015},
pages={347-356},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005316103470356},
isbn={978-989-758-091-8},
issn={2184-4321},
}

TY - CONF

JO - Proceedings of the 10th International Conference on Computer Vision Theory and Applications (VISIGRAPP 2015) - Volume 1: VISAPP
TI - Improving the Egomotion Estimation by Correcting the Calibration Bias
SN - 978-989-758-091-8
IS - 2184-4321
AU - Krešo, I.
AU - Šegvić, S.
PY - 2015
SP - 347
EP - 356
DO - 10.5220/0005316103470356
PB - SciTePress