Real-Time Monocular SFM for Autonomous Driving



This work develops the real-time SFM system for localizing Honda's advanced humanoid robot, ASIMO. Input images are obtained through stereo cameras and our principal features of interest for indoor environments are infinite lines, which avoids the drawbacks of unstable end-points. The minimal SFM problem requires only two lines and we present a solution to the resulting overdetermined polynomial system which is fast enough to be used in a RANSAC framework. Our entire pipeline for line detection, tracking, minimal SFM and bundle adjustment is expected to achieve real-time rates.


M.K. Chandraker, J. Lim and D.J. Kriegman
Moving in Stereo: Efficient Structure and Motion Using Lines [PDF]
ICCV 2009, Kyoto, Japan.


Line SFM Line SFM

Last updated May 31, 2014.