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Global-Map-Registered Local Visual Odometry Using On-the-Fly Pose Graph Updates

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Book cover Augmented Reality, Virtual Reality, and Computer Graphics (AVR 2020)

Part of the book series: Lecture Notes in Computer Science ((LNIP,volume 12242))

Abstract

Real-time camera pose estimation is one of the indispensable technologies for Augmented Reality (AR). While a large body of work in Visual Odometry (VO) has been proposed for AR, practical challenges such as scale ambiguities and accumulative errors still remain especially when we apply VO to large-scale scenes due to limited hardware and resources. We propose a camera pose registration method, where a local VO is consecutively optimized with respect to a large-scale scene map on the fly. This framework enables the scale estimation between a VO map and a scene map and reduces accumulative errors by finding corresponding locations in the map to the current frame and by on-the-fly pose graph optimization. The results using public datasets demonstrated that our approach reduces the accumulative errors of naïve VO.

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Author information

Authors and Affiliations

  1. Information and Computer Science, Keio University, Yokohama, 223-8522, Japan

    Masahiro Yamaguchi & Hideo Saito

  2. Institute of Computer Graphics and Vision, Graz University of Technology, 8010, Graz, Austria

    Shohei Mori

  3. NEC, Kawasaki, 211–8666, Japan

    Shoji Yachida & Takashi Shibata

Authors
  1. Masahiro Yamaguchi
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  2. Shohei Mori
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  3. Hideo Saito
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  4. Shoji Yachida
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  5. Takashi Shibata
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Corresponding author

Correspondence to Masahiro Yamaguchi .

Editor information

Editors and Affiliations

  1. University of Salento, Lecce, Italy

    Lucio Tommaso De Paolis

  2. University of Paris-Sud, Orsay, France

    Patrick Bourdot

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Yamaguchi, M., Mori, S., Saito, H., Yachida, S., Shibata, T. (2020). Global-Map-Registered Local Visual Odometry Using On-the-Fly Pose Graph Updates. In: De Paolis, L., Bourdot, P. (eds) Augmented Reality, Virtual Reality, and Computer Graphics. AVR 2020. Lecture Notes in Computer Science(), vol 12242. Springer, Cham. https://doi.org/10.1007/978-3-030-58465-8_23

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  • DOI: https://doi.org/10.1007/978-3-030-58465-8_23

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-58464-1

  • Online ISBN: 978-3-030-58465-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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