Motion Estimation for Self-Driving Cars with a Generalized Camera

• Published in: 2013 IEEE Conference on Computer Vision and Pattern Recognition pp. 2746 - 2753
• Main Authors: Gim Hee Lee, Faundorfer, Friedrich, Pollefeys, Marc
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.06.2013
• Subjects: Ackermann Motion Model; Cameras; Estimation; Generalized Camera; Mathematical model; Measurement; Motion Estimation; Polynomials; Robustness; Self-Driving Car

In this paper, we present a visual ego-motion estimation algorithm for a self-driving car equipped with a close-to-market multi-camera system. By modeling the multi-camera system as a generalized camera and applying the non-holonomic motion constraint of a car, we show that this leads to a novel 2-p...