Catalin Golban

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This paper presents a method to accurately determine the three-dimensional motion of a vehicle based on image pairs acquired with a stereo system. The basic idea is to express the relationship between correspondent features that belong to non moving objects in successive frames as a nonlinear function of rotation and translation parameters. Minimizing the(More)
Visual odometry has been an important research activity in the last two years and it has lead to numerous papers being published. Few surveys and comparative studies between approaches exist at the moment. This paper makes a comparative study between two visual odometry methods from accuracy, speed, sensitiveness to noise, and degree of parallelization(More)
Reliable vehicle ego motion estimation based on visual information is an important research goal because it has applications like accurate long term localization by fusion with other sensors, temporal fusion between frames, moving obstacles detection and tracking, path planning etc. This paper evaluates and significantly improves some steps of existing(More)
This paper presents an original and practical method for estimating the rotation and the translation of a vehicle using video data. Imposing a movement constraint on the rotation matrix, we obtain a powerful method for estimating the rotation of the vehicle from frame to frame. Our algorithm takes as input a monocular video sequence on which originally(More)
Visual odometry is the most suitable method for recovering the camera motion in the context of video processing applications. The main advantages it brings are the accuracy of the estimation, the computation efficiency, and the elimination of the need to synchronize a video processing system with other odometry sensors. There is a large amount of recently(More)
This paper proposes a novel method to determine the speed of the surrounding vehicles in traffic scenarios. Relying on the video information obtained from a stereo camera mounted on a moving vehicle, we first determine the vehicle ego motion based on static scene features then we determine the relative motion between objects based on features situated on(More)
This paper proposes a novel method for detecting the moving vehicles in dynamic urban traffic scenes using a stereo camera. Relying on the fact that a set of feature points on a rigid 3D scene object are staying in a rigid 3D configuration, we propose to compute the relative motion between the camera and a moving object with an algorithm that follows from(More)
Visual odometry has been an important research activity in the last three years. Because the results of ego-motion estimation tasks are used in complex systems which need to work real-time, the motion estimation itself need to perform faster than real-time such that the remaining time slots can be used by other algorithms running on the same hardware. The(More)
This paper presents an original method for increasing the accuracy of ego vehicle motion estimation using video data. Our algorithm takes as input a monocular video sequence on which originally combines procedures for feature detection and filtering, optical flow, epipolar geometry and estimation of the rotation from the obtained essential matrix. Imposing(More)