Volume

Dagstuhl Seminar Proceedings, Volume 10371

Publication Details

  • published at: 2011-02-23
  • Publisher: Schloss Dagstuhl – Leibniz-Zentrum für Informatik

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Document
DOI: 10.4230/DagSemProc.10371.1
10371 Abstracts Collection – Dynamic Maps

Authors: Claus Brenner, Wolfram Burgard, Marc Pollefeys, and Christoph Stiller

Abstract
From September 12th to 17th, 2010, the Dagstuhl Seminar 10371 ``Dynamic Maps '' was held in Schloss Dagstuhl~--~Leibniz Center for Informatics. During the seminar, several participants presented their current research, and ongoing work and open problems were discussed. Abstracts of the presentations given during the seminar as well as abstracts of seminar results and ideas are put together in this paper. The first section describes the seminar topics and goals in general. Links to extended abstracts or full papers are provided, if available.
Cite as

Claus Brenner, Wolfram Burgard, Marc Pollefeys, and Christoph Stiller. 10371 Abstracts Collection – Dynamic Maps. In Dynamic Maps. Dagstuhl Seminar Proceedings, Volume 10371, pp. 1-14, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2011)

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@InProceedings{brenner_et_al:DagSemProc.10371.1,
  author =	{Brenner, Claus and Burgard, Wolfram and Pollefeys, Marc and Stiller, Christoph},
  title =	{{10371 Abstracts Collection – Dynamic Maps}},
  booktitle =	{Dynamic Maps},
  pages =	{1--14},
  series =	{Dagstuhl Seminar Proceedings (DagSemProc)},
  ISSN =	{1862-4405},
  year =	{2011},
  volume =	{10371},
  editor =	{Claus Brenner and Wolfram Burgard and Marc Pollefeys and Christoph Stiller},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/DagSemProc.10371.1},
  URN =		{urn:nbn:de:0030-drops-29526},
  doi =		{10.4230/DagSemProc.10371.1},
  annote =	{Keywords: Dynamic maps, computer vision, photogrammetry, robotics, computer graphics, geoinformatics, driver assistance}
}
Document
DOI: 10.4230/DagSemProc.10371.2
10371 Executive Summary – Dynamic Maps

Authors: Claus Brenner, Wolfram Burgard, Marc Pollefeys, and Christoph Stiller

Abstract
In recent years, the advent of car navigation systems has laid the ground for an entirely new industry sector, consisting of map producers, car/ personal/ smart phone navigation manufacturers, and service providers. It has probably gone unnoticed that navigation systems mark a major change in the way we use maps. Partially, they are still just a replacement for traditional maps, providing a means to store and visualize a representation of the environment. In contrast to the traditional use of maps, however, navigation systems perform computations using the map's data structures, such as shortest route, map matching, and route guidance. That is, from an abstract point of view, part of the map is made for machine use only – the user has no direct access to it but rather is only presented the outcome of the computations.
Cite as

Claus Brenner, Wolfram Burgard, Marc Pollefeys, and Christoph Stiller. 10371 Executive Summary – Dynamic Maps. In Dynamic Maps. Dagstuhl Seminar Proceedings, Volume 10371, pp. 1-4, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2011)

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@InProceedings{brenner_et_al:DagSemProc.10371.2,
  author =	{Brenner, Claus and Burgard, Wolfram and Pollefeys, Marc and Stiller, Christoph},
  title =	{{10371 Executive Summary – Dynamic Maps}},
  booktitle =	{Dynamic Maps},
  pages =	{1--4},
  series =	{Dagstuhl Seminar Proceedings (DagSemProc)},
  ISSN =	{1862-4405},
  year =	{2011},
  volume =	{10371},
  editor =	{Claus Brenner and Wolfram Burgard and Marc Pollefeys and Christoph Stiller},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/DagSemProc.10371.2},
  URN =		{urn:nbn:de:0030-drops-29512},
  doi =		{10.4230/DagSemProc.10371.2},
  annote =	{Keywords: Dynamic maps, spatial data infrastructure, SLAM, map matching, autonomous navigation, spatial cognition, data fusion, information retrieval, intelligent vehicles, 3D scene perception, scene understanding, 3D reconstruction}
}
Document
DOI: 10.4230/DagSemProc.10371.3
Real-Time Monocular Visual Odometry for On-Road Vehicles with 1-Point RANSAC

Authors: Davide Scaramuzza, Friedrich Fraundorfer, and Roland Siegwart

Abstract
The first biggest problem in visual motion estimation is data association; matched points contain many outliers that must be detected and removed for the motion to be accurately estimated. In the last few years, a very established method for removing outliers has been the "5-point RANSAC" algorithm which needs a minimum of 5 point correspondences to estimate the model hypotheses. Because of this, however, it can require up to thousand iterations to find a set of points free of outliers. In this talk, I will show that by exploiting the non-holonomic constraints of wheeled vehicles (e.g. cars, bikes, mobile robots) it is possible to use a restrictive motion model which allows us to parameterize the motion with only 1 point correspondence. Using a single feature correspondence for motion estimation is the lowest model parameterization possible and results in the most efficient algorithm for removing outliers: 1-point RANSAC. The second problem in monocular visual odometry is the estimation of the absolute scale. I will show that vehicle non-holonomic constraints make it also possible to estimate the absolute scale completely automatically whenever the vehicle turns. In this talk, I will give a mathematical derivation and provide experimental results on both simulated and real data over a large image dataset collected during a 25 Km path.
Cite as

Davide Scaramuzza, Friedrich Fraundorfer, and Roland Siegwart. Real-Time Monocular Visual Odometry for On-Road Vehicles with 1-Point RANSAC. In Dynamic Maps. Dagstuhl Seminar Proceedings, Volume 10371, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2011)

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@InProceedings{scaramuzza_et_al:DagSemProc.10371.3,
  author =	{Scaramuzza, Davide and Fraundorfer, Friedrich and Siegwart, Roland},
  title =	{{Real-Time Monocular Visual Odometry for On-Road Vehicles with 1-Point RANSAC}},
  booktitle =	{Dynamic Maps},
  series =	{Dagstuhl Seminar Proceedings (DagSemProc)},
  ISSN =	{1862-4405},
  year =	{2011},
  volume =	{10371},
  editor =	{Claus Brenner and Wolfram Burgard and Marc Pollefeys and Christoph Stiller},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/DagSemProc.10371.3},
  URN =		{urn:nbn:de:0030-drops-29500},
  doi =		{10.4230/DagSemProc.10371.3},
  annote =	{Keywords: Structure from motion, visual odometry, SLAM, RANSAC, motion constraints}
}

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  • Authors
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  • Brenner, Claus
  • Burgard, Wolfram
  • F
  • Fraundorfer, Friedrich
  • P
  • Pollefeys, Marc
  • S
  • Scaramuzza, Davide
  • Siegwart, Roland
  • Stiller, Christoph

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