DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

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, 2016-02-27 - 2016-02-29, Rom, Italien. doi: 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


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
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
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 ISI Web of Science:No
Page Range:pp. 353-373
Publisher:Springer International Publishing AG
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 Start Date:27 February 2016
Event End Date:29 February 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:24 Apr 2024 20:20

Repository Staff Only: item control page

Help & Contact
electronic library is running on EPrints 3.3.12
Website and database design: Copyright © German Aerospace Center (DLR). All rights reserved.