{"title":"单眼视觉里程计中三角测量的精度","authors":"Nolang Fanani, R. Mester","doi":"10.1109/SSIAI.2018.8470356","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":422209,"journal":{"name":"2018 IEEE Southwest Symposium on Image Analysis and Interpretation (SSIAI)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2018-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"The precision of triangulation in monocular visual odometry\",\"authors\":\"Nolang Fanani, R. Mester\",\"doi\":\"10.1109/SSIAI.2018.8470356\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"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.\",\"PeriodicalId\":422209,\"journal\":{\"name\":\"2018 IEEE Southwest Symposium on Image Analysis and Interpretation (SSIAI)\",\"volume\":\"24 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2018-04-08\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2018 IEEE Southwest Symposium on Image Analysis and Interpretation (SSIAI)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/SSIAI.2018.8470356\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 IEEE Southwest Symposium on Image Analysis and Interpretation (SSIAI)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/SSIAI.2018.8470356","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
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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