Direct Sparse Odometry with Rolling Shutter
| Autor: | Nikolaus Demmel, Daniel Cremers, Vladyslav Usenko, Jörg Stückler, David Schubert |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Monocular business.industry Computer science Rolling shutter Bundle adjustment 02 engineering and technology 020901 industrial engineering & automation Odometry Robustness (computer science) 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Computer vision Artificial intelligence Visual odometry business |
| Zdroj: | Computer Vision – ECCV 2018 ISBN: 9783030012366 |
| Popis: | Neglecting the effects of rolling-shutter cameras for visual odometry (VO) severely degrades accuracy and robustness. In this paper, we propose a novel direct monocular VO method that incorporates a rolling-shutter model. Our approach extends direct sparse odometry which performs direct bundle adjustment of a set of recent keyframe poses and the depths of a sparse set of image points. We estimate the velocity at each keyframe and impose a constant-velocity prior for the optimization. In this way, we obtain a near real-time, accurate direct VO method. Our approach achieves improved results on challenging rolling-shutter sequences over state-of-the-art global-shutter VO. |
| Databáze: | OpenAIRE |
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