4,808 research outputs found
Direct Monocular Odometry Using Points and Lines
Most visual odometry algorithm for a monocular camera focuses on points,
either by feature matching, or direct alignment of pixel intensity, while
ignoring a common but important geometry entity: edges. In this paper, we
propose an odometry algorithm that combines points and edges to benefit from
the advantages of both direct and feature based methods. It works better in
texture-less environments and is also more robust to lighting changes and fast
motion by increasing the convergence basin. We maintain a depth map for the
keyframe then in the tracking part, the camera pose is recovered by minimizing
both the photometric error and geometric error to the matched edge in a
probabilistic framework. In the mapping part, edge is used to speed up and
increase stereo matching accuracy. On various public datasets, our algorithm
achieves better or comparable performance than state-of-the-art monocular
odometry methods. In some challenging texture-less environments, our algorithm
reduces the state estimation error over 50%.Comment: ICRA 201
Accurate Optical Flow via Direct Cost Volume Processing
We present an optical flow estimation approach that operates on the full
four-dimensional cost volume. This direct approach shares the structural
benefits of leading stereo matching pipelines, which are known to yield high
accuracy. To this day, such approaches have been considered impractical due to
the size of the cost volume. We show that the full four-dimensional cost volume
can be constructed in a fraction of a second due to its regularity. We then
exploit this regularity further by adapting semi-global matching to the
four-dimensional setting. This yields a pipeline that achieves significantly
higher accuracy than state-of-the-art optical flow methods while being faster
than most. Our approach outperforms all published general-purpose optical flow
methods on both Sintel and KITTI 2015 benchmarks.Comment: Published at the Conference on Computer Vision and Pattern
Recognition (CVPR 2017
SPLODE: Semi-Probabilistic Point and Line Odometry with Depth Estimation from RGB-D Camera Motion
Active depth cameras suffer from several limitations, which cause incomplete
and noisy depth maps, and may consequently affect the performance of RGB-D
Odometry. To address this issue, this paper presents a visual odometry method
based on point and line features that leverages both measurements from a depth
sensor and depth estimates from camera motion. Depth estimates are generated
continuously by a probabilistic depth estimation framework for both types of
features to compensate for the lack of depth measurements and inaccurate
feature depth associations. The framework models explicitly the uncertainty of
triangulating depth from both point and line observations to validate and
obtain precise estimates. Furthermore, depth measurements are exploited by
propagating them through a depth map registration module and using a
frame-to-frame motion estimation method that considers 3D-to-2D and 2D-to-3D
reprojection errors, independently. Results on RGB-D sequences captured on
large indoor and outdoor scenes, where depth sensor limitations are critical,
show that the combination of depth measurements and estimates through our
approach is able to overcome the absence and inaccuracy of depth measurements.Comment: IROS 201
Effective high resolution 3D geometric reconstruction of heritage and archaeological sites from images
Motivated by the need for a fast, accurate, and high-resolution approach to documenting heritage and archaeological objects before they are removed or destroyed, the goal of this paper is to develop and demonstrate advanced image-based techniques to capture the fine 3D geometric details of such objects. The size of the object may be large and of any arbitrary shape which presents a challenge to all existing 3D techniques. Although range sensors can directly acquire high resolution 3D points, they can be costly and impractical to set up and move around archaeological sites. Alternatively, image-based techniques acquire data from inexpensive portable digital cameras. We present a sequential multi-stage procedure for 3D data capture from images designed to model fine geometric details. Test results demonstrate the utility and flexibility of the technique and prove that it creates highly detailed models in a reliable manner for many different types of surface detail
Probabilistic RGB-D Odometry based on Points, Lines and Planes Under Depth Uncertainty
This work proposes a robust visual odometry method for structured
environments that combines point features with line and plane segments,
extracted through an RGB-D camera. Noisy depth maps are processed by a
probabilistic depth fusion framework based on Mixtures of Gaussians to denoise
and derive the depth uncertainty, which is then propagated throughout the
visual odometry pipeline. Probabilistic 3D plane and line fitting solutions are
used to model the uncertainties of the feature parameters and pose is estimated
by combining the three types of primitives based on their uncertainties.
Performance evaluation on RGB-D sequences collected in this work and two public
RGB-D datasets: TUM and ICL-NUIM show the benefit of using the proposed depth
fusion framework and combining the three feature-types, particularly in scenes
with low-textured surfaces, dynamic objects and missing depth measurements.Comment: Major update: more results, depth filter released as opensource, 34
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