Robust Direct Visual Odometry Estimation for a Monocular Camera Under Rotations
| Autor: | Annamalai Lakshmi, Faheema Agj, Dipti Deodhare |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Control and Optimization Computer science ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Biomedical Engineering 02 engineering and technology Simultaneous localization and mapping 020901 industrial engineering & automation Odometry Artificial Intelligence Motion estimation 0202 electrical engineering electronic engineering information engineering Homography Computer vision Visual odometry Pose ComputingMethodologies_COMPUTERGRAPHICS Monocular business.industry Mechanical Engineering Computer Science Applications Visualization Human-Computer Interaction Control and Systems Engineering Computer Science::Computer Vision and Pattern Recognition 020201 artificial intelligence & image processing Computer Vision and Pattern Recognition Artificial intelligence business Parallax |
| Zdroj: | IEEE Robotics and Automation Letters. 3:367-372 |
| ISSN: | 2377-3774 |
| DOI: | 10.1109/lra.2017.2755070 |
| Popis: | The objective of this letter is to enhance the accuracy of the monocular visual odometry estimation. The proposed approach estimates pose of the camera via direct approach, by minimizing a novel photometric residue between the current image and warped version of the consecutive image. The novel photometric residue incorporates orientation information accessible from complementary sensor to overcome the inalienable nonlinearity of pose estimation, accordingly lessening the susceptibility to trajectory noise. In addition, this letter introduces a homography-based rotation motion estimation embedded into the photometric residue to reduce tracking failure amid rotations, which could be attributed to lesser number of features with parallax. The proposed methodology permits to integrate Gaussian mixture based prior into visual odometry estimation to cater for changes in motion type, from general to rotation and other way round. Comprehensive experiments have been conducted to exhibit the efficacy of the proposed solution over the best in class visual odometry and visual-inertial systems. |
| Databáze: | OpenAIRE |
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