{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,1]],"date-time":"2025-11-01T02:30:17Z","timestamp":1761964217088},"reference-count":20,"publisher":"Cambridge University Press (CUP)","issue":"3","license":[{"start":{"date-parts":[[2009,5,22]],"date-time":"2009-05-22T00:00:00Z","timestamp":1242950400000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2010,5]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>This paper describes a new approach for estimating the vehicle motion trajectory in complex urban environments by means of visual odometry. A new strategy for robust feature extraction and data post-processing is developed and tested on-road. Images from scale-invariant feature transform (SIFT) features are used in order to cope with the complexity of urban environments. The obtained results are discussed and compared to previous works. In the prototype system, the ego-motion of the vehicle is computed using a stereo-vision system mounted next to the rear view mirror of the car. Feature points are matched between pairs of frames and linked into 3D trajectories. The distance between estimations is dynamically adapted based on re-projection and estimation errors. Vehicle motion is estimated using the non-linear, photogrametric approach based on RAndom SAmple Consensus (RANSAC). The final goal is to provide on-board driver assistance in navigation tasks, or to provide a means of autonomously navigating a vehicle. The method has been tested in real traffic conditions without using prior knowledge about the scene or the vehicle motion. An example of how to estimate a vehicle's trajectory is provided along with suggestions for possible further improvement of the proposed odometry algorithm.<\/jats:p>","DOI":"10.1017\/s026357470900575x","type":"journal-article","created":{"date-parts":[[2009,5,22]],"date-time":"2009-05-22T09:05:40Z","timestamp":1242983140000},"page":"441-452","source":"Crossref","is-referenced-by-count":38,"title":["Robust visual odometry for vehicle localization in urban environments"],"prefix":"10.1017","volume":"28","author":[{"given":"I.","family":"Parra","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"M. A.","family":"Sotelo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"D. F.","family":"Llorca","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"M.","family":"Oca\u00f1a","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,5,22]]},"reference":[{"key":"S026357470900575X_ref15","first-page":"1000","volume-title":"Proceedings of the IEEE Conference on CVPR","author":"Beis","year":"1997"},{"key":"S026357470900575X_ref20","article-title":"Combination of feature extraction methods for svm pedestrian detection","volume":"8","author":"Parra","year":"2007","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"S026357470900575X_ref18","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511811685"},{"key":"S026357470900575X_ref1","doi-asserted-by":"publisher","DOI":"10.1109\/34.177380"},{"key":"S026357470900575X_ref19","unstructured":"19. 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Hagnelius A. , Visual Odometry Masters Thesis (Umea, Sweden: Umea University, Apr. 2005)."},{"key":"S026357470900575X_ref12","volume-title":"Proceedings of the IEEE Workshop on Perception for Mobile Agents","author":"Murray","year":"1998"},{"key":"S026357470900575X_ref17","doi-asserted-by":"publisher","DOI":"10.1145\/358669.358692"},{"key":"S026357470900575X_ref2","first-page":"652","volume-title":"Proceedings IEEE Conference on Computer Vision and Pattern Recognition","author":"Nister","year":"2004"},{"key":"S026357470900575X_ref11","first-page":"2051","volume-title":"Proceedings of the IEEE ICRA","author":"Se","year":"2001"},{"key":"S026357470900575X_ref14","first-page":"67","volume-title":"International Symposium on Mixed and Augmented Reality","author":"Gordon","year":"2006"},{"key":"S026357470900575X_ref16","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-007-9182-5"},{"key":"S026357470900575X_ref9","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008199403446"},{"key":"S026357470900575X_ref5","doi-asserted-by":"publisher","DOI":"10.1109\/ICPR.2006.962"},{"key":"S026357470900575X_ref13","first-page":"1150","volume-title":"Proceedings of the Seventh ICCV","author":"Lowe","year":"1999"},{"key":"S026357470900575X_ref7","first-page":"147","volume-title":"Proceedings of the Fourth Alvey Vision Conference","author":"Harris","year":"1988"},{"key":"S026357470900575X_ref10","unstructured":"10. Boufama B. , Reconstruction tridimensionnelle en vision par ordinateur: Cas des cameras non etalonnees PhD Thesis (France, INP de Grenoble, 1994)."},{"key":"S026357470900575X_ref8","first-page":"674","volume-title":"Proceedings of the International Joint Conference on Artifial Intelligence","author":"Lucas","year":"1981"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S026357470900575X","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,28]],"date-time":"2019-04-28T20:02:54Z","timestamp":1556481774000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S026357470900575X\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,5,22]]},"references-count":20,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2010,5]]}},"alternative-id":["S026357470900575X"],"URL":"https:\/\/doi.org\/10.1017\/s026357470900575x","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2009,5,22]]}}}