Robust Scale Estimation in Real-Time Monocular SFM for Autonomous Driving

  title={Robust Scale Estimation in Real-Time Monocular SFM for Autonomous Driving},
  author={Shiyu Song and Manmohan Krishna Chandraker},
  journal={2014 IEEE Conference on Computer Vision and Pattern Recognition},
Scale drift is a crucial challenge for monocular autonomous driving to emulate the performance of stereo. This paper presents a real-time monocular SFM system that corrects for scale drift using a novel cue combination framework for ground plane estimation, yielding accuracy comparable to stereo over long driving sequences. Our ground plane estimation uses multiple cues like sparse features, dense inter-frame stereo and (when applicable) object detection. A data-driven mechanism is proposed to… CONTINUE READING
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