On the Feasibility of Odometry-Based Structure from Motion

Conference paper


Philipp Woock
Frank Pagel
Michael Grinberg
Dieter Willersinn


Proceedings of the 4th International Workshop on Intelligent Transportation (WIT 2007), 2007.




4th International Workshop on Intelligent Transportation (WIT 2007), Hamburg, 20.-21. März, 2007

Structure from motion refers to a technique to obtain 3D information from consecutive images taken with a moving monocular camera. In order to do this, the camera motion performed between the taken images needs to be known.

In the work reported in this contribution, we investigated whether or not the uncertainty of the odometry data available on the CAN bus of a commercially available passenger car is sufficient to perform this task.

In order to identify the required uncertainty, we developed an error model based on camera parameters and the bicycle model. We investigated two options, both being based on speed measurements. The first option combines them with steering angle measurements, the other with measurements of the yaw rate. Concluding, we found out that the specified uncertainty of all odometry data available is sufficient to solve structure from motion. Long-term measurements empirically confirm the uncertainty values given in the specification.

Further work needs to be carried out in order to compensate for roll movements.