HAL will be down for maintenance from Friday, June 10 at 4pm through Monday, June 13 at 9am. More information
Skip to Main content Skip to Navigation
Conference papers

Trajectography of an Uncalibrated Stereo Rig in Urban Environments

Nicolas Simond 1 Patrick Rives 1
1 ICARE - Instrumentation, control and architecture of advanced robots
CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : This paper describes an original method to compute the relative motion of an uncalibrated stereo rig in urban environments from features lying on the road. The extraction of significant reliable features on the road remains the critical step of this method. We nevertheless detect them according to the stereo constraints and an a priori knowledge on the scene. The motion between two frames of the stereo rig is considered as rigid: the homography computation is enforced by the redundancy of the feature locations in multiple views. The method has been tested on video sequences recorded from a test vehicle that was driven in an urban environments. Promising results from these experiments will be presented.
Complete list of metadata

Cited literature [11 references]  Display  Hide  Download

Contributor : Nicolas Simond Connect in order to contact the contributor
Submitted on : Friday, January 20, 2006 - 4:07:36 PM
Last modification on : Friday, February 4, 2022 - 3:08:47 AM
Long-term archiving on: : Saturday, April 3, 2010 - 7:37:58 PM


  • HAL Id : inria-00001045, version 1



Nicolas Simond, Patrick Rives. Trajectography of an Uncalibrated Stereo Rig in Urban Environments. IEEE RSJ/International conference on Intelligent Robot and System (IROS'04), Sep 2004, Sendaï, Japan. ⟨inria-00001045⟩



Record views


Files downloads