Egomotion using assorted features
| Autor: | Vivek Pradeep, Jongwoo Lim |
|---|---|
| Rok vydání: | 2010 |
| Předmět: |
business.industry
ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Rotation matrix Stereopsis Robustness (computer science) Trifocal tensor Computer Science::Computer Vision and Pattern Recognition Motion estimation Computer vision Artificial intelligence Visual odometry Quaternion business Subspace topology Mathematics |
| Zdroj: | CVPR |
| Popis: | We describe a novel and robust minimal solver for performing online visual odometry with a stereo rig. The proposed method can compute the underlying camera motion given any arbitrary, mixed combination of point and line correspondences across two stereo views. This facilitates a hybrid visual odometry pipeline that is enhanced by well-localized and reliably-tracked line features while retaining the well-known advantages of point features. Utilizing trifocal tensor geometry and quaternion representation of rotation matrices, we develop a polynomial system from which camera motion parameters can be robustly extracted in the presence of noise. We show how the more popular approach of using direct linear/subspace techniques fail in this regard and demonstrate improved performance using our formulation with extensive experiments and comparisons against the 3-point and line-sfm algorithms. |
| Databáze: | OpenAIRE |
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