Depth Estimation with Ego-Motion Assisted Monocular Camera
- 作者: Mansour M.1,2, Davidson P.1, Stepanov O.2, Raunio J.3, Aref M.4, Piché R.1
-
隶属关系:
- Faculty of Information Technology and Communication Sciences, Tampere University
- Department of Information and Navigation Systems, ITMO University
- AAC Technologies
- Faculty of Engineering and Natural Sciences, Tampere University
- 期: 卷 10, 编号 3 (2019)
- 页面: 111-123
- 栏目: Article
- URL: https://journals.rcsi.science/2075-1087/article/view/204646
- DOI: https://doi.org/10.1134/S2075108719030064
- ID: 204646
如何引用文章
详细
We propose a method to estimate the distance to objects based on the complementary nature of monocular image sequences and camera kinematic parameters. The fusion of camera measurements with the kinematics parameters that are measured by an IMU and an odometer is performed using an extended Kalman filter. Results of field experiments with a wheeled robot corroborated the results of the simulation study in terms of accuracy of depth estimation. The performance of the approach in depth estimation is strongly affected by the mutual observer and feature point geometry, measurement accuracy of the observer’s motion parameters and distance covered by the observer. It was found that under favorable conditions the error in distance estimation can be as small as 1% of the distance to a feature point. This approach can be used to estimate distance to objects located hundreds of meters away from the camera.
作者简介
M. Mansour
Faculty of Information Technology and Communication Sciences, Tampere University; Department of Information and Navigation Systems, ITMO University
编辑信件的主要联系方式.
Email: mostafa.mansour@tuni.fi
芬兰, Tampere; St. Petersburg
P. Davidson
Faculty of Information Technology and Communication Sciences, Tampere University
Email: mostafa.mansour@tuni.fi
芬兰, Tampere
O. Stepanov
Department of Information and Navigation Systems, ITMO University
Email: mostafa.mansour@tuni.fi
俄罗斯联邦, St. Petersburg
J.-P. Raunio
AAC Technologies
Email: mostafa.mansour@tuni.fi
芬兰, Tampere
M. Aref
Faculty of Engineering and Natural Sciences, Tampere University
Email: mostafa.mansour@tuni.fi
芬兰, Tampere
R. Piché
Faculty of Information Technology and Communication Sciences, Tampere University
Email: mostafa.mansour@tuni.fi
芬兰, Tampere