1-Point-RANSAC Structure from Motion for Vehicle-Mounted Cameras by Exploiting Non-holonomic Constraints
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2011-10
Publication Type
Journal Article
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yes
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Abstract
This paper presents a new method to estimate the relative motion of a vehicle from images of a single camera. The computational cost of the algorithm is limited only by the feature extraction and matching process, as the outlier removal and the motion estimation steps take less than a fraction of millisecond with a normal laptop computer. The biggest problem in visual motion estimation is data association; matched points contain many outliers that must be detected and removed for the motion to be accurately estimated. In the last few years, a very established method for removing outliers has been the "5-point RANSAC" algorithm which needs a minimum of 5 point correspondences to estimate the model hypotheses. Because of this, however, it can require up to several hundreds of iterations to find a set of points free of outliers. In this paper, we show that by exploiting the nonholonomic constraints of wheeled vehicles it is possible to use a restrictive motion model which allows us to parameterize the motion with only 1 point correspondence. Using a single feature correspondence for motion estimation is the lowest model parameterization possible and results in the two most efficient algorithms for removing outliers: 1-point RANSAC and histogram voting. To support our method we run many experiments on both synthetic and real data and compare the performance with a state-of-the-art approach. Finally, we show an application of our method to visual odometry by recovering a 3 Km trajectory in a cluttered urban environment and in real-time. © 2011 Springer Science+Business Media, LLC.
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published
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Journal / series
Volume
95 (1)
Pages / Article No.
74 - 85
Publisher
Springer
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Subject
Outlier removal; Ransac; Structure from motion
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Notes
Received 6 May 2009, Accepted 25 March 2011, Published online 7 April 2011. It was possible to publish this article open access thanks to a Swiss National Licence with the publisher