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Direct stereo visual odometry based on lines

Holzmann, Thomas and Fraundorfer, Friedrich and Bischof, Horst (2016) Direct stereo visual odometry based on lines. In: Proceedings of the 11th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, 2016, pp. 1-11. VISAPP 2016, 27 - 29 Feb. 2016, Rom, Italy.

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We propose a novel stereo visual odometry approach, which is especially suited for poorly textured environments. We introduce a novel, fast line segment detector and matcher, which detects vertical lines supported by an IMU. The patches around lines are then used to directly estimate the pose of consecutive cameras by minimizing the photometric error. Our algorithm outperforms state-of-the-art approaches in challenging environments. Our implementation runs in real-time and is therefore well suited for various robotics and augmented reality applications.

Item URL in elib:https://elib.dlr.de/104774/
Document Type:Conference or Workshop Item (Speech)
Additional Information:Best Paper Award 2016
Title:Direct stereo visual odometry based on lines
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Holzmann, Thomasholzmann (at) icg.tu-graz.ac.atUNSPECIFIED
Fraundorfer, Friedrichfriedrich.fraundorfer (at) dlr.deUNSPECIFIED
Bischof, Horstbischof (at) icg.tu-graz.ac.atUNSPECIFIED
Journal or Publication Title:Proceedings of the 11th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, 2016
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Page Range:pp. 1-11
Keywords:Visual Odometry, Pose Estimation, Simultaneous Localisation And Mapping
Event Title:VISAPP 2016
Event Location:Rom, Italy
Event Type:international Conference
Event Dates:27 - 29 Feb. 2016
Organizer:VISIGRAPP Org.
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Traffic Management (old)
DLR - Research area:Transport
DLR - Program:V VM - Verkehrsmanagement
DLR - Research theme (Project):V - Vabene++ (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Remote Sensing Technology Institute > Photogrammetry and Image Analysis
Deposited On:04 Jul 2016 12:49
Last Modified:31 Jul 2019 20:02

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