
This README accompanies a video associated with the paper:

A.I. Comport, E. Malis and P. Rives. Accurate Real-time Quadrifocal
Tracking for Robust 3D Visual Odometry. In IEEE International
Conference on Robotics and Automation, ICRA'07, Rome, Italy, April
2007.


--------------------------------------------------------------------------------

DESCRIPTION:

This video sequence shows:

1. The estimated 3D trajectory (about 392m long) of the proposed
Visual Odometry algorithm overlayed on a satellite image.

2. The actual sequence used to estimate the motion (with many
occlusions). It is synchronised with the overlayed trajectory.


A full loop of a round-about is performed which is particularly
illustrative since it enables the drift to be measured at the crossing
point in the trajectory. The drift at the crossing point was
approximately 20cm in the vertical direction to the
road-plane. Considering that the trajectory around the round-about is
approximately 200m long (measured using Google earth), this makes a
drift of 0.01% on this axis.

The images used to estimate the trajectory are also displayed and it
can be seen that there are many occlusions from pedestrians as well as
other cars on the road which are effectively handled by the algorithm.

More videos and results can be found on the authors homepages (see
below).


--------------------------------------------------------------------------------

PLAYER INFORMATION:

This color video is encoded in Mpeg 4 format using the MSmpeg4v2 codec
and has been tested on Mplayer and Windows media-player.


--------------------------------------------------------------------------------

CONTACT INFORMATION

Andrew COMPORT, Ezio Malis and Patrick Rives,

Equipe ICARE, 
INRIA, 
2004, Route des Lucioles - BP 93, 06902
SOPHIA-ANTIPOLIS, France

Email: Firstname.Lastname@sophia.inria.fr 
Tel: 04.92.38.50.80 
Fax:04.92.38.50.28

Homepages: 
http://www-sop.inria.fr/icare/personnel/andrew.comport/
http://www-sop.inria.fr/icare/personnel/malis/





Attachment filename: 1450_VI.mpg (4693232 Bytes)