Estimating camera pose using Bundle Adjustment and Digital Terrain Model constraints

Amir Geva, Gil Briskin, Ehud Rivlin, Hector Rotstein

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

8 Scopus citations

Abstract

Bundle Adjustment is the current state of the art method for solving the simultaneous localization and mapping problem. This problem is important for the localization of robots, and most acute for flying robots that cannot rely on ground odometry. The solution requires additional information to resolve scale, and most implementations either assume that relatively accurate pose information exists, or utilize GPS and IMU sensors. This paper presents an alternative approach that incorporates Digital Terrain Model constraints into the Bundle Adjustment algorithm, enabling the correct resolution of scale even in the absence of additional information. It is shown, in multiple test scenarios, that this algorithm provides estimations that do not diverge with time and that exceed, in accuracy, the resolution of the underlying sampled terrain.

Original languageEnglish
Title of host publication2015 IEEE International Conference on Robotics and Automation, ICRA 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4000-4005
Number of pages6
EditionJune
ISBN (Electronic)9781479969234
DOIs
StatePublished - 29 Jun 2015
Event2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States
Duration: 26 May 201530 May 2015

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
NumberJune
Volume2015-June
ISSN (Print)1050-4729

Conference

Conference2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Country/TerritoryUnited States
CitySeattle
Period26/05/1530/05/15

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