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  Experts of probabilistic flow subspaces for robust monocular odometry in urban areas

Herdtweck, C., & Curio, C. (2012). Experts of probabilistic flow subspaces for robust monocular odometry in urban areas. In 2012 IEEE Intelligent Vehicles Symposium (pp. 661-667). Piscataway, NJ, USA: IEEE.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-B72C-0 Version Permalink: http://hdl.handle.net/21.11116/0000-0001-8ECE-8
Genre: Conference Paper

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 Creators:
Herdtweck, C1, 2, Author              
Curio, C1, 2, Author              
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794              

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 Abstract: Visual odometry has been promoted as a fundamental component for intelligent vehicles. Relying solely on monocular image cues would be desirable. Nevertheless, this is a challenge especially in dynamically varying urban areas due to scale ambiguities, independent motions, and measurement noise. We propose to use probabilistic learning with auxiliar depth cues. Specifically, we developed an expert model that specializes monocular egomotion estimation units on typical scene structures, i.e. statistical variations of scene depth layouts. The framework adaptively selects the best fitting expert. For on-line estimation of egomotion, we adopted a probabilistic subspace flow estimation method. Learning in our framework consists of two components: 1) Partitioning of datasets of video and ground truth odometry data based on unsupervised clustering of dense stereo depth profiles and 2) training a cascade of subspace flow expert models. A probabilistic quality measure from the estimates of the experts provides a selection rule overall leading to improvements of egomotion estimation for long test sequences.

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 Dates: 2012-06
 Publication Status: Published in print
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Type: -
 Identifiers: DOI: 10.1109/IVS.2012.6232238
BibTex Citekey: HerdtweckC2012
 Degree: -

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Title: IEEE Intelligent Vehicles Symposium (IV 2012)
Place of Event: Alcalá de Henares, Spain
Start-/End Date: 2012-06-03 - 2012-06-07

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Title: 2012 IEEE Intelligent Vehicles Symposium
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 661 - 667 Identifier: ISBN: 978-1-4673-2118-1