Development of a Visual Odometry Model Based on Sensors and Video Stream Analysis
- Autores: Danilova S.D.1
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Afiliações:
- Financial University under the Government of the Russian Federation
- Edição: Volume 11, Nº 1 (2024)
- Páginas: 36-47
- Seção: MATHEMATICAL MODELING, NUMERICAL METHODS AND COMPLEX PROGRAMS
- URL: https://journals.eco-vector.com/2313-223X/article/view/631118
- ID: 631118
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The article is devoted to the development of a visual odometry model based on sensors of an inertial measuring device and the analysis of a video stream arriving in real time. Modeling is based on the analysis and evaluation of methods for measuring the correct coordinates of a moving object, systems for estimating the movement of an object in three-dimensional space, algorithms at intermediate stages of image processing, principles for selecting special points on the frame and optical flow for selected points.
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Sobre autores
Soelma Danilova
Financial University under the Government of the Russian Federation
Autor responsável pela correspondência
Email: sddanilova@fa.ru
ORCID ID: 0000-0003-4143-078X
Cand. Sci. (Eng.), Associate Professor, associate professor, Department of Data Analysis and Machine Learning; Faculty of Information Technology
Rússia, MoscowBibliografia
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Fig. 1. An example of the encoder operation
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Fig. 2. The algorithm of visual odometry
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Fig. 3. Coordinate systems: a – global coordinate system; b – device coordinate system
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Fig. 4. The scheme of the Majwick filter
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Fig. 5. Converted camera model
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Fig. 6. Epipolar representation of two cameras with Y and Y′ centers
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Fig. 7. The relative position of the cameras with the coordinate system of the left camera
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