TOWARDS A NON-AIDED MONOCULAR VISUAL ODOMETRY SYSTEM
Islam Alaa ElDin Mustafa Ali;
Abstract
Recently, a huge attention is given to vision-based solutions in a wide
range of applications including robotics, smart driving among others. One
category of such solutions is visual odometry (VO), which is the process
of estimating the complete body/camera pose using the images captured
by the camera. In this thesis, previous e orts exerted in VO and its tuning
are reviewed and criticized qualitatively. Moreover, a generic framework
for testing, evaluating, and rapid prototyping of such systems is provided.
Consequently, this framework is used to analyze the impact VO parameters
on the pose estimation performance both from the accuracy point of view
as well as the time complexity. Finally, a novel method for enhancing the
performance of monocular VO is proposed with the intent of reaching a
non-aided vision-based solution.
range of applications including robotics, smart driving among others. One
category of such solutions is visual odometry (VO), which is the process
of estimating the complete body/camera pose using the images captured
by the camera. In this thesis, previous e orts exerted in VO and its tuning
are reviewed and criticized qualitatively. Moreover, a generic framework
for testing, evaluating, and rapid prototyping of such systems is provided.
Consequently, this framework is used to analyze the impact VO parameters
on the pose estimation performance both from the accuracy point of view
as well as the time complexity. Finally, a novel method for enhancing the
performance of monocular VO is proposed with the intent of reaching a
non-aided vision-based solution.
Other data
| Title | TOWARDS A NON-AIDED MONOCULAR VISUAL ODOMETRY SYSTEM | Other Titles | نحو نظام رؤية أحادي لتحديد المسافات بدون مساعدة أخري | Authors | Islam Alaa ElDin Mustafa Ali | Issue Date | 2018 |
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