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A Detailed Description of Direct Stereo Visual Odometry Based on Lines

Holzmann, Thomas and Fraundorfer, Friedrich and Bischof, Horst (2017) A Detailed Description of Direct Stereo Visual Odometry Based on Lines. In: Computer Vision, Imaging and Computer Graphics Theory and Applications, pp. 353-373. Springer International Publishing AG. International Joint Conference on Computer Vision, Imaging and Computer Graphics, 27.-29. Feb. 2016, Rom, Italien. DOI: https://doi.org/10.1007/978-3-319-64870-5_17 ISBN 978-3-319-64869-9

Full text not available from this repository.

Official URL: https://link.springer.com/chapter/10.1007/978-3-319-64870-5_17

Abstract

In this paper, we propose a direct stereo visual odometry method which uses vertical lines to estimate consecutive camera poses. Therefore, it is well suited for poorly textured indoor environments where point-based methods may fail. We introduce a fast line segment detector and matcher detecting vertical lines, which occur frequently in man-made environments.We estimate the pose of the camera by directly minimizing the photometric error of the patches around the detected lines. In cases where not sufficient lines could be detected, point features are used as fallback solution. As our algorithm runs in real-time, it is well suited for robotics and augmented reality applications. In our experiments, we show that our algorithm outperforms state-of-the-art methods on poorly textured indoor scenes and delivers comparable results on well textured outdoor scenes.

Item URL in elib:https://elib.dlr.de/115657/
Document Type:Conference or Workshop Item (Speech)
Title:A Detailed Description of Direct Stereo Visual Odometry Based on Lines
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Holzmann, Thomasholzmann (at) icg.tu-graz.ac.atUNSPECIFIED
Fraundorfer, Friedrichfriedrich.fraundorfer (at) dlr.deUNSPECIFIED
Bischof, Horstbischof (at) icg.tu-graz.ac.atUNSPECIFIED
Date:9 August 2017
Journal or Publication Title:Computer Vision, Imaging and Computer Graphics Theory and Applications
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
DOI :https://doi.org/10.1007/978-3-319-64870-5_17
Page Range:pp. 353-373
Publisher:Springer International Publishing AG
ISBN:978-3-319-64869-9
Status:Published
Keywords:Stereo visual odometry method, line Segment detector, minmizing photometric error, outdoor scenes
Event Title:International Joint Conference on Computer Vision, Imaging and Computer Graphics
Event Location:Rom, Italien
Event Type:international Conference
Event Dates:27.-29. Feb. 2016
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Terrestrial Vehicles (old)
DLR - Research area:Transport
DLR - Program:V BF - Bodengebundene Fahrzeuge
DLR - Research theme (Project):V - Fahrzeugintelligenz (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Remote Sensing Technology Institute
Deposited By: Zielske, Mandy
Deposited On:09 Jan 2018 16:34
Last Modified:13 Mar 2018 13:00

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