@InProceedings{PereiraNegLufIlhSus:2017:MoViOd,
               author = "Pereira, Fabio Irigon and Negreiros, Marcelo and Luft, Joel and 
                         Ilha, Gustavo and Susin, Altamiro",
          affiliation = "PGMICRO-UFRGS and DELET-UFRGS and PPGEE-UFRGS and {PPGEE UFRGS} 
                         and PGMICRO-UFRGS",
                title = "Monocular Visual Odometry With Cyclic Estimation",
            booktitle = "Proceedings...",
                 year = "2017",
               editor = "Torchelsen, Rafael Piccin and Nascimento, Erickson Rangel do and 
                         Panozzo, Daniele and Liu, Zicheng and Farias, Myl{\`e}ne and 
                         Viera, Thales and Sacht, Leonardo and Ferreira, Nivan and Comba, 
                         Jo{\~a}o Luiz Dihl and Hirata, Nina and Schiavon Porto, Marcelo 
                         and Vital, Creto and Pagot, Christian Azambuja and Petronetto, 
                         Fabiano and Clua, Esteban and Cardeal, Fl{\'a}vio",
         organization = "Conference on Graphics, Patterns and Images, 30. (SIBGRAPI)",
            publisher = "IEEE Computer Society",
              address = "Los Alamitos",
             keywords = "Visual Odometry, Visual SLAM, Computer Vision.",
             abstract = "Monocular Visual Odometry (MVO) estimates the camera position and 
                         orientation, based on images generated by a single camera. In this 
                         paper a new sparse MVO system for camera equipped vehicles is 
                         proposed. Three view cyclic Perspective-n-Point with adaptive 
                         threshold is used for camera pose estimation, perspective image 
                         transformations are used to improve tracking, and a 
                         multi-attribute cost function selects ground features for scale 
                         recovery. Results using the KITTI dataset show that the proposed 
                         system achieves 1.29\% average translation error and average 
                         rotation precision of 0.0029 degrees per meter.",
  conference-location = "Niter{\'o}i, RJ, Brazil",
      conference-year = "17-20 Oct. 2017",
                  doi = "10.1109/SIBGRAPI.2017.7",
                  url = "http://dx.doi.org/10.1109/SIBGRAPI.2017.7",
             language = "en",
                  ibi = "8JMKD3MGPAW/3PFC2R2",
                  url = "http://urlib.net/ibi/8JMKD3MGPAW/3PFC2R2",
           targetfile = "PID4957061.pdf",
        urlaccessdate = "2024, Apr. 28"
}