2D Visual odometry based on Probability Data Association Filter
Bo Li, Shasha Dong, Liang Zhang, Yinhua Xu
Available Online June 2015.
- https://doi.org/10.2991/icecee-15.2015.138How to use a DOI?
- visual odometry;probability data association (PDA) filtering
- 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.
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 -