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Robust and Efficient Relative Pose With a Multi-Camera System for Autonomous Driving in Highly Dynamic Environments

Liu, Liu; Li, Hongdong; Dai, Yuchao; Pan, Quan


This paper studies the relative pose problem for autonomous vehicles driving in highly dynamic and possibly cluttered environments. This is a challenging scenario due to the existence of multiple, large, and independently moving objects in the environment, which often leads to an excessive portion of outliers and results in erroneous motion estimation. Existing algorithms cannot cope with such situations well. This paper proposes a new algorithm for relative pose estimation using a multi-camera...[Show more]

CollectionsANU Research Publications
Date published: 2018
Type: Journal article
Source: IEEE Transactions on Intelligent Transportation Systems
DOI: 10.1109/TITS.2017.2749409


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