Flexible Threshold Visual Odometry Algorithm Using Fuzzy Logics

Autor:	Shashi Poddar, Vinod Karar, Rahul Mahajan, P. Vivekananda Shanmuganathan
Rok vydání:	2018
Předmět:	Computer science Outlier ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Visual odometry RANSAC Translation (geometry) Algorithm Rotation (mathematics) Fuzzy logic Pose Field (computer science)
Zdroj:	Proceedings of 2nd International Conference on Computer Vision & Image Processing ISBN: 9789811078941 CVIP (1)
DOI:	10.1007/978-981-10-7895-8_23
Popis:	Visual odometry is a widely known art in the field of computer vision used for the task of estimating rotation and translation between two consecutive time instants. The RANSAC scheme used for outlier rejection incorporates a constant threshold for selecting inliers. The selection of an optimum number of inliers dispersed over the entire image is very important for accurate pose estimation and is decided on the basis of inlier threshold. In this paper, the threshold for inlier classification is adapted with the help of fuzzy logic scheme and varies with the data dynamics. The fuzzy logic is designed with an assumption about the maximum possible camera rotation that can be observed between consequent frames. The proposed methodology has been applied on KITTI dataset, and a comparison has been laid forth between adaptive RANSAC with and without using fuzzy logic with an aim of imparting flexibility to visual odometry algorithm.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::66bc2f7d5d4be8e0f40a064ec1cbcd54 https://doi.org/10.1007/978-981-10-7895-8_23 Zobrazit plný text záznamu