Accurate characterization of embedded Structure from Motion

Trajectory estimation and 3d scene reconstruction from single camera, e.g. Structure from Motion, is going to have a central role in the future of automotive industry. Typical appliance fields will be: Collisions avoidance with any kind of object (people included), parking assisted maneuvers and many more. Indeed various countries are becoming more and more concerned about road traffic safety and therefore through its 'Advanced Program', EuroNCAP rewards vehicle manufacturers who employ Advanced Safety Technologies that assists the driver. This paper had mainly two different goals: (1) to describe the implementation of a state of art Structure from Motion pipeline able to run in real time with embedded fish-eye camera, which includes nonlinear optimization (i.e. local bundle adjustment); (2) to demonstrate quantitatively its performances on a synthetic test space specifically designed for its characterization in term of accuracy.