1. Visual Odometry Michael Adams CS 223B 2008

2. Problem: Measure trajectory of a mobile platform using visual data Mobile Platform (Car) Calibrated Camera GPS Truth Data

3. Approach: SIFT, RANSAC, Bundle Adjustment Each Image Pair: –Find SIFT features and matches –RANSAC w/ 8 point linear algorithm for E –Use inliers to fit for E and recover R and T –Reconstruct 3D structure –Normalize each T and scale relative to first one For groups of images, nonlinear fit to adjust R, T, scale and 3-D structure Piece together scaled translations to form trajectory

4. Matching

5. One Corner

6. Two Corners