TY - GEN
T1 - Error propagation in monocular navigation for Z∞ compared to eightpoint algorithm
AU - Mair, Elmar
AU - Suppa, Michael
AU - Burschka, Darius
PY - 2013
Y1 - 2013
N2 - Efficient visual pose estimation plays an important role for a variety of applications. To improve the quality, the measurements from different sensors can be fused. However, a reliable fusion requires the knowledge of the uncertainty of each estimate. In this work, we provide an error analysis for the Z∞ algorithm. Furthermore, we extend the existing first-order error propagation for the 8-point algorithm to allow for feature normalization, as proposed by Hartley or Muhlich, and the rotation matrix based decomposition. Both methods are efficient visual odometry techniques which allow high frame-rates and, thus, dynamic motions in unbounded workspaces. Finally, we provide experiments which validate the accuracy of the error propagation and which enable a brief comparison, showing that the Z∞ significantly outperforms the 8-point algorithm. We also discuss the influence of the number of features, the aperture angle, and the image resolution on the accuracy of the pose estimation.
AB - Efficient visual pose estimation plays an important role for a variety of applications. To improve the quality, the measurements from different sensors can be fused. However, a reliable fusion requires the knowledge of the uncertainty of each estimate. In this work, we provide an error analysis for the Z∞ algorithm. Furthermore, we extend the existing first-order error propagation for the 8-point algorithm to allow for feature normalization, as proposed by Hartley or Muhlich, and the rotation matrix based decomposition. Both methods are efficient visual odometry techniques which allow high frame-rates and, thus, dynamic motions in unbounded workspaces. Finally, we provide experiments which validate the accuracy of the error propagation and which enable a brief comparison, showing that the Z∞ significantly outperforms the 8-point algorithm. We also discuss the influence of the number of features, the aperture angle, and the image resolution on the accuracy of the pose estimation.
UR - http://www.scopus.com/inward/record.url?scp=84893749808&partnerID=8YFLogxK
U2 - 10.1109/IROS.2013.6696961
DO - 10.1109/IROS.2013.6696961
M3 - Conference contribution
AN - SCOPUS:84893749808
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4220
EP - 4227
BT - IROS 2013
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -