Incorporating a Wheeled Vehicle Model in a New Monocular Visual Odometry Algorithm for Dynamic Outdoor Environments

Incorporating a Wheeled Vehicle Model in a New Monocular Visual Odometry Algorithm for Dynamic Outdoor Environments

This paper presents a monocular visual odometry algorithm that incorporates a wheeled vehicle model for ground vehicles. The main innovation of this algorithm is to use the single-track bicycle model to interpret the relationship between the yaw rate and side slip angle, which are the two most impor...

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Bibliographic Details
Main Authors: Yanhua Jiang, Guangming Xiong, Huiyan Chen, Dah-Jye Lee
Format: Article
Language:English
Published: MDPI AG 2014-09-01
Series:Sensors
Subjects:
monocular visual odometry
motion estimation
pose estimation
vehicle dynamic model
wheeled vehicles
Online Access:http://www.mdpi.com/1424-8220/14/9/16159

Internet

http://www.mdpi.com/1424-8220/14/9/16159

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