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Information-Driven Direct RGB-D Odometry

Fontan Villacampa, Alejandro and Civera, Javier and Triebel, Rudolph (2020) Information-Driven Direct RGB-D Odometry. In: 2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition, CVPR 2020, pp. 4928-4936. IEEE. 2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 13-19 June 2020, Seattle, WA, USA, USA. doi: 10.1109/CVPR42600.2020.00498. ISBN 978-172817168-5. ISSN 1063-6919.

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This paper presents an information-theoretic approach to point selection for direct RGB-D odometry. The aim is to select only the most informative measurements, in order to reduce the optimization problem with a minimal impact in the accuracy. It is usual practice in visual odometry/SLAM to track several hundreds of points, achieving real-time performance in high-end desktop PCs. Reducing their computational footprint will facilitate the implementation of odometry and SLAM in low-end platforms such as small robots and AR/VR glasses. Our experimental results show that our novel information-based selection criteria allows us to reduce the number of tracked points an order of magnitude (down to only 24 of them), achieving an accuracy similar to the state of the art (sometimes outperforming it) while reducing 10× the computational demand.

Item URL in elib:https://elib.dlr.de/135184/
Document Type:Conference or Workshop Item (Speech)
Title:Information-Driven Direct RGB-D Odometry
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Fontan Villacampa, AlejandroAlejandro.FontanVillacampa (at) dlr.deUNSPECIFIED
Civera, Javierjcivera (at) unizar.esUNSPECIFIED
Triebel, RudolphRudolph.Triebel (at) dlr.dehttps://orcid.org/0000-0002-7975-036X
Date:17 June 2020
Journal or Publication Title:2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition, CVPR 2020
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
DOI :10.1109/CVPR42600.2020.00498
Page Range:pp. 4928-4936
Keywords:Computer Vision, SLAM, Visual Odometry
Event Title:2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)
Event Location:Seattle, WA, USA, USA
Event Type:international Conference
Event Dates:13-19 June 2020
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Multisensory World Modelling (E3D OS) [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Fontan Villacampa, Alejandro
Deposited On:30 Nov 2020 14:13
Last Modified:30 Nov 2020 14:13

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