1-point RANSAC based Structure from Motion (Monocular visual odometry at 400 Hz)

[jcchon]

This research assumed that the road is a flat and the vehicle has only 3DOF(Tx,Ty,Yaw). This assumption is for a special area and a vehicle must have the 3DOF. This assumption is a lot of limitation for general urban road. Unfortunately, the urban roads are not flat and include a lot of objects and a vehicle including vision systems has 6 DOF in general.

[davidescaramuzza]

That's wrong. This algorithm does not assume any planar motion. The motion is estimated in 6DOF. You can find more details in my paper.

[jcchon]

Sorry. I red "Robust Feature Extraction and Matching for Omnidirectional Images",FSR 2007. Could you forward me your paper. It is hard to find your paper for this video. Thank you in advance.

[davidescaramuzza]

Hi you can find the paper on my webpage.

The paper is titled: "Real-Time Monocular Visual Odometry for On-Road Vehicles with 1-Point RANSAC"

[davidescaramuzza]

There is no magic trick, just magic.. an dyou can't understand how it works unless you are from Rome ;-)

[ubikspray]

I really like this magic trick. I can see the misdirection though.