单眼视觉里程计中三角测量的精度

2018 IEEE Southwest Symposium on Image Analysis and Interpretation (SSIAI) Pub Date : 2018-04-08 DOI:10.1109/SSIAI.2018.8470356

Nolang Fanani, R. Mester

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引用次数: 0

摘要

分析了两帧三角剖分法在一般运动情况下的深度重建精度和灵敏度，并重点研究了单目视觉测程的情况，即单摄像机主要观察运动方向。结果证实了在膨胀焦点附近三角剖分精度有限的直观假设。

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The precision of triangulation in monocular visual odometry

We analyze the depth reconstruction precision and sensitivity of two-frame triangulation for the case of general motion, and focus on the case of monocular visual odometry, that is: a single camera looking mostly in the direction of motion. The results confirm intuitive assumptions about the limited triangulation precision close to the focus of expansion.

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2018 IEEE Southwest Symposium on Image Analysis and Interpretation (SSIAI)

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