Robust and efficient edge-based visual odometry

doi:10.1007/s41095-021-0251-7

	Robust and efficient edge-based visual odometry
	Yan, Feihu 1; Li, Zhaoxin 2; Zhou, Zhong 1
	2022-03-07
发表期刊	COMPUTATIONAL VISUAL MEDIA
ISSN	2096-0433
页码	15
摘要	Visual odometry, which aims to estimate relative camera motion between sequential video frames, has been widely used in the fields of augmented reality, virtual reality, and autonomous driving. However, it is still quite challenging for state-of-the-art approaches to handle low-texture scenes. In this paper, we propose a robust and efficient visual odometry algorithm that directly utilizes edge pixels to track camera pose. In contrast to direct methods, we choose reprojection error to construct the optimization energy, which can effectively cope with illumination changes. The distance transform map built upon edge detection for each frame is used to improve tracking efficiency. A novel weighted edge alignment method together with sliding window optimization is proposed to further improve the accuracy. Experiments on public datasets show that the method is comparable to state-of-the-art methods in terms of tracking accuracy, while being faster and more robust.
关键词	visual odometry (VO) edge structure distance transform low-texture
DOI	10.1007/s41095-021-0251-7
收录类别	SCI
语种	英语
资助项目	National Key R&D Program of China[2018YFB2100601] ; National Natural Science Foundation of China[61872024] ; National Natural Science Foundation of China[61702482]
WOS研究方向	Computer Science
WOS类目	Computer Science, Software Engineering
WOS记录号	WOS:000765643300001
出版者	SPRINGERNATURE
引用统计	被引频次：3[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://119.78.100.204/handle/2XEOYT63/18955
专题	中国科学院计算技术研究所期刊论文_英文
通讯作者	Zhou, Zhong
作者单位	1.Beihang Univ, State Key Lab Virtual Real Technol & Syst, Beijing 100191, Peoples R China 2.Chinese Acad Sci, Inst Comp Technol, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Yan, Feihu,Li, Zhaoxin,Zhou, Zhong. Robust and efficient edge-based visual odometry[J]. COMPUTATIONAL VISUAL MEDIA,2022:15.
APA	Yan, Feihu,Li, Zhaoxin,&Zhou, Zhong.(2022).Robust and efficient edge-based visual odometry.COMPUTATIONAL VISUAL MEDIA,15.
MLA	Yan, Feihu,et al."Robust and efficient edge-based visual odometry".COMPUTATIONAL VISUAL MEDIA (2022):15.