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Efficient visual odometry estimation using stereo camera | IEEE Conference Publication | IEEE Xplore

Efficient visual odometry estimation using stereo camera


Abstract:

In this paper we present a visual odometry system that estimate the motion of a stereo camera from consecutive stereo image pairs. No other sensors or prior knowledge of ...Show More

Abstract:

In this paper we present a visual odometry system that estimate the motion of a stereo camera from consecutive stereo image pairs. No other sensors or prior knowledge of the scene is needed. The point features are extracted and matched between image pairs. Given feature correspondences, the camera motion is estimated by minimizing the reporjection error of successive images. The main contribution of this paper is that we design a customized feature descriptor that can make feature matching process extremely fast while preserving the matching reliability. Hence, we can include as many features as possible into optimization process which leads to improvement of motion estimation accuracy. Real-world experiments are done to demonstrate the ability and efficiency of the system.
Date of Conference: 18-20 June 2014
Date Added to IEEE Xplore: 07 August 2014
Electronic ISBN:978-1-4799-2837-8

ISSN Information:

Conference Location: Taichung, Taiwan

References

References is not available for this document.