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In this paper, we explore the different minimal solutions for egomotion estimation of a camera based on homography knowing the gravity vector between calibrated images. These solutions depend on the prior knowledge about the reference plane used by the homography. We then demonstrate that the number of matched points can vary from two to three and that a(More)
— This paper presents a visual odometry with metric scale estimation of a multi-camera system in challenging un-synchronized setup. The intended application is in the field of intelligent vehicles. We propose a new algorithm named " triangle-based " method. The proposed algorithm employs the information from both extrinsic and intrinsic parameters of(More)