Readings in computer vision: issues, problems, principles, and paradigms
Exact and Approximate Solutions of the Perspective-Three-Point Problem
IEEE Transactions on Pattern Analysis and Machine Intelligence
Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
Statistical Optimization for Geometric Computation: Theory and Practice
Statistical Optimization for Geometric Computation: Theory and Practice
Visual Modeling with a Hand-Held Camera
International Journal of Computer Vision
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Real-time monocular visual odometry for on-road vehicles with 1-point RANSAC
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Appearance-Guided Monocular Omnidirectional Visual Odometry for Outdoor Ground Vehicles
IEEE Transactions on Robotics
From images to 3d models made easy
MM '11 Proceedings of the 19th ACM international conference on Multimedia
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This paper presents a fast monocular visual odometry algorithm. We propose a closed form solution for the computation of the unknown scale ratio between two consecutive image pairs. Our method requires only 1 2D-3D correspondence. A least square solution can also be found in closed form when more correspondences are available. Additionally we provide a first order analysis on the propagation of the error from the noise in the image features to the computation of the scale. We show by means of simulated and real data that our method is more robust and accurate than standard techniques. We demonstrate that our visual odometry algorithm is well suited for the task of 3D reconstruction in urban areas.