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Proceedings Paper

Visual odometry with high resolution time-of-flight cameras
Author(s): Yosef Dalbah; Nicolas Dingeldey; Friedrich M. Wahl
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Paper Abstract

We present a method that estimates the ego motion of a vehicle based on camera data of high resolution (207x204 pixels) Time-of-Flight cameras using visual odometry techniques. Translation and rotation of camera motion in six degrees of freedom are calculated. Point correspondences in consecutive amplitude image pairs are built. By consideration of the depth image of the camera 3D point correspondences are derived from the two dimensional point correspondences. Camera motion between the two images is then computed by registration of the two resulting point clouds. The process is optimized by incorporation of outlier removal and a multi sensor setup. The presented optimizations raise the precision and robustness of the method and enable visual odometry by Time-of-Flight camera data as an alternative to common odometry systems in low speed scenarios.

Paper Details

Date Published: 24 December 2013
PDF: 7 pages
Proc. SPIE 9067, Sixth International Conference on Machine Vision (ICMV 2013), 90670T (24 December 2013); doi: 10.1117/12.2050903
Show Author Affiliations
Yosef Dalbah, Audi Electronics Venture GmbH (Germany)
Nicolas Dingeldey, Automotive Safety Technologies GmbH (Germany)
Friedrich M. Wahl, Technische Univ. Braunschweig (Germany)

Published in SPIE Proceedings Vol. 9067:
Sixth International Conference on Machine Vision (ICMV 2013)
Branislav Vuksanovic; Antanas Verikas; Jianhong Zhou, Editor(s)

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