ShanghaiTech University Knowledge Management System
Articulated Multi-Perspective Cameras and Their Application to Truck Motion Estimation | |
2019-11 | |
会议录名称 | 2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
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ISSN | 2153-0858 |
页码 | 2052-2059 |
发表状态 | 已发表 |
DOI | 10.1109/IROS40897.2019.8968604 |
摘要 | While monocular and stereo camera based motion estimation has reached a level of maturity that enables industrial use, the community keeps exploring novel multi-sensor solutions to meet the high robustness and accuracy requirements of certain applications such as autonomous vehicles. The present paper focuses on motion estimation with multi-perspective camera systems. In particular, we look into the intricate case in which the cameras are distributed over an articulated body, a scenario that occurs in truck motion estimation where additional cameras are installed on the trailer. The resulting articulated multi-perspective camera is analyzed in theory and practice, and we show that- by taking the non-holonomic constraints of the vehicle into account- a single point correspondence measured from the trailer is sufficient to render the additional unknown parameters given by the internal joint configuration before and after a relative displacement fully observable. optimizing over all parameters enhances the accuracy of the motion estimation of the entire system with respect to using the cameras on each rigid part alone. Results are confirmed on both simulated and real data. |
会议地点 | Macau, China |
会议日期 | 3-8 Nov. 2019 |
URL | 查看原文 |
收录类别 | EI ; CPCI-S ; CPCI |
出版者 | Institute of Electrical and Electronics Engineers Inc. |
EI入藏号 | 20201108294359 |
EI主题词 | Cameras ; Intelligent robots ; Motion sensors ; Stereo image processing ; Truck trailers |
EI分类号 | Heavy Duty Motor Vehicle Components:663.2 ; Data Processing and Image Processing:723.2 ; Robot Applications:731.6 ; Photographic Equipment:742.2 |
原始文献类型 | Conferences |
引用统计 | |
文献类型 | 会议论文 |
条目标识符 | https://kms.shanghaitech.edu.cn/handle/2MSLDSTB/49954 |
专题 | 信息科学与技术学院_本科生 信息科学与技术学院_PI研究组_Laurent Kneip组 信息科学与技术学院_硕士生 |
通讯作者 | Peng, Xin |
作者单位 | ShanghaiTech University, Mobile Perception Lab, China |
第一作者单位 | 上海科技大学 |
通讯作者单位 | 上海科技大学 |
第一作者的第一单位 | 上海科技大学 |
推荐引用方式 GB/T 7714 | Peng, Xin,Cui, Jiadi,Kneip, Laurent. Articulated Multi-Perspective Cameras and Their Application to Truck Motion Estimation[C]:Institute of Electrical and Electronics Engineers Inc.,2019:2052-2059. |
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