Proceedings of the 2015 International Conference on Electrical, Computer Engineering and Electronics

2D Visual odometry based on Probability Data Association Filter

Authors
Bo Li, Shasha Dong, Liang Zhang, Yinhua Xu
Corresponding Author
Bo Li
Available Online June 2015.
DOI
https://doi.org/10.2991/icecee-15.2015.138How to use a DOI?
Keywords
visual odometry;probability data association (PDA) filtering
Abstract
This paper presents a novel approach based on probability data association (PDA) filtering for estimating a vehicle’s trajectory in complex urban environments. We consider feature pairs acquired from consecutive frames as the measurements for the PDA filter to update the ego-motion vector of the camera. Compared to other feature based approaches, our approach presents a recursive filtering algorithm that provides dynamic estimation of ego-motion vector in the presence of falsely feature pairs. Experimental results show that this method provides good robustness under real traffic scenarios.
Open Access
This is an open access article distributed under the CC BY-NC license.

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Proceedings
2015 2nd International Conference on Electrical, Computer Engineering and Electronics
Part of series
Advances in Computer Science Research
Publication Date
June 2015
ISBN
978-94-62520-81-3
ISSN
2352-538X
DOI
https://doi.org/10.2991/icecee-15.2015.138How to use a DOI?
Open Access
This is an open access article distributed under the CC BY-NC license.

Cite this article

TY  - CONF
AU  - Bo Li
AU  - Shasha Dong
AU  - Liang Zhang
AU  - Yinhua Xu
PY  - 2015/06
DA  - 2015/06
TI  - 2D Visual odometry based on Probability Data Association Filter
BT  - 2015 2nd International Conference on Electrical, Computer Engineering and Electronics
PB  - Atlantis Press
SN  - 2352-538X
UR  - https://doi.org/10.2991/icecee-15.2015.138
DO  - https://doi.org/10.2991/icecee-15.2015.138
ID  - Li2015/06
ER  -