Visual Odometry
Research Project Goal
We a large corpus of panoramic video that is geo-referenced. The video has been collected by a car instrumented with high-recision GPS and inertial sensors. The goal of this project is to use visual sensing to compute the motion estimates between consecutive views and integrate it across the entire trajectory. The final results will be compared with the pose estimates obtained by GPS and intertial
sensors.
Research Project Scope
Given a stream of images, compute the trajectory of the mobile platform.
Data
Video stream of the images acquired by a panoramic camera will be available.
Tasks
- Extract feature points
- Implement least squares solution to motion estimation between two views.
- Implement least squares solution to motion estimation to 3D structure recovery.
- Implement motion prediction step given the available structure.
- This will be followed by a windowed bundle adjustment over multiple frames. Integrate camera model of panoramic camera with calibration parameters provided by instructors.
Research Project Status
student names here
Point of Contact
Jana Kosecka
Midterm Report
not yet submitted
Final Report
not yet submitted
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