Visual odometry with unsynchronized multi-cameras setup for intelligent vehicle application

@article{Mhiri2014VisualOW,
  title={Visual odometry with unsynchronized multi-cameras setup for intelligent vehicle application},
  author={R. Mhiri and P. Vasseur and S. Mousset and R{\'e}mi Boutteau and A. Bensrhair},
  journal={2014 IEEE Intelligent Vehicles Symposium Proceedings},
  year={2014},
  pages={1339-1344}
}
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 calibrated cameras. We assume that the trajectory between two consecutive frames of a camera is a linear segment (straight trajectory). The relative… Expand
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