차량의 모션계측을 위한 RANSAC 의존 없는 스테레오 영상 거리계

다국어 초록 (Multilingual Abstract)

This paper addresses a new algorithm for a stereo visual odometry to measure the ego-motion of a vehicle. The new algorithm introduces an inlier grouping method based on Delaunay triangulation and vanishing point computation. Most visual odometry algorithms rely on RANSAC in choosing inliers. Those algorithms fluctuate largely in processing time between images and have different accuracy depending on the iteration number and the level of outliers. On the other hand, the new approach reduces the fluctuation in the processing time while providing accuracy corresponding to the RANSAC-based approaches.

목차 (Table of Contents)

• Abstract
• Ⅰ. 서론
• Ⅱ. 제안된 VO 알고리즘의 구성
• Ⅲ. 특징점 추출
• Ⅳ. 모션 계측
• Ⅴ. 실험결과
• Ⅵ. 결론
• REFERENCES

참고문헌 (Reference)

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