Ego-Motion Estimate Corruption Due to Violations of the Range Flow Constraint

Chris D. Monaco, Sean N. Brennan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Visual odometry methods are increasingly being used to estimate a vehicle's ego-motion from range data due to the decreasing cost of range sensors and the impressive speed and accuracy of visual odometry techniques. Dense geometry-based visual odometry methods are fundamentally based on the range flow constraint equation, an equation which depends on the temporal and spatial derivatives of range images. However, these derivatives are calculated with the fundamental assumption that the range flow is magnitude-limited. When scaling this method for faster vehicles, this assumption could be violated, invaliding the range flow constraint equation and thus corrupting the resulting ego-motion estimates. This paper derives the sensor, motion, environment, and sampling frequency conditions that would mathematically violate the range flow constraint. This information is useful for defining the operational limits of dense geometry-based visual odometry methods.

Original languageEnglish (US)
Title of host publication2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3964-3969
Number of pages6
ISBN (Electronic)9781538680940
DOIs
StatePublished - Dec 27 2018
Event2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 - Madrid, Spain
Duration: Oct 1 2018Oct 5 2018

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
CountrySpain
CityMadrid
Period10/1/1810/5/18

Fingerprint

Derivatives
Geometry
Sensors
Sampling
Costs

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Monaco, C. D., & Brennan, S. N. (2018). Ego-Motion Estimate Corruption Due to Violations of the Range Flow Constraint. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 (pp. 3964-3969). [8594131] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2018.8594131
Monaco, Chris D. ; Brennan, Sean N. / Ego-Motion Estimate Corruption Due to Violations of the Range Flow Constraint. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 3964-3969 (IEEE International Conference on Intelligent Robots and Systems).
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abstract = "Visual odometry methods are increasingly being used to estimate a vehicle's ego-motion from range data due to the decreasing cost of range sensors and the impressive speed and accuracy of visual odometry techniques. Dense geometry-based visual odometry methods are fundamentally based on the range flow constraint equation, an equation which depends on the temporal and spatial derivatives of range images. However, these derivatives are calculated with the fundamental assumption that the range flow is magnitude-limited. When scaling this method for faster vehicles, this assumption could be violated, invaliding the range flow constraint equation and thus corrupting the resulting ego-motion estimates. This paper derives the sensor, motion, environment, and sampling frequency conditions that would mathematically violate the range flow constraint. This information is useful for defining the operational limits of dense geometry-based visual odometry methods.",
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Monaco, CD & Brennan, SN 2018, Ego-Motion Estimate Corruption Due to Violations of the Range Flow Constraint. in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018., 8594131, IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers Inc., pp. 3964-3969, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, Madrid, Spain, 10/1/18. https://doi.org/10.1109/IROS.2018.8594131

Ego-Motion Estimate Corruption Due to Violations of the Range Flow Constraint. / Monaco, Chris D.; Brennan, Sean N.

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 3964-3969 8594131 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Monaco CD, Brennan SN. Ego-Motion Estimate Corruption Due to Violations of the Range Flow Constraint. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 3964-3969. 8594131. (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2018.8594131