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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(More)
In this paper we present an unsynchronized camera network able to estimate the motion and the structure with accurate absolute scale. The proposed algorithm requires at least three frames: two frames from one camera and a frame from a neighbouring camera. The relative camera poses are estimated with classical Structure-from-Motion and the absolute scales(More)
In this paper, we present a simple algorithm for obstacle detection, road surface extraction and tracking using Kalman filter and u-v-disparity images. The proposed approach is based on the use of an unsynchronized camera system and the use of sparse maps instead of dense ones due to the unsynchronization constraint. First, a sparse disparity map is(More)
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