Direct Stereo Visual Odometry Based on Lines

Publikation: Beitrag in Buch/Bericht/KonferenzbandBeitrag in einem Konferenzband

Abstract

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.
Originalspracheenglisch
Titel11th International Conference on Computer Vision Theory and Applications (VISAPP), 2016
PublikationsstatusVeröffentlicht - Feb 2016
Veranstaltung11th International Conference on Computer Vision Theory and Applications (VISAPP) - Rome, Italien
Dauer: 27 Feb 201629 Feb 2016

Konferenz

Konferenz11th International Conference on Computer Vision Theory and Applications (VISAPP)
LandItalien
OrtRome
Zeitraum27/02/1629/02/16

Dieses zitieren

Holzmann, T., Fraundorfer, F., & Bischof, H. (2016). Direct Stereo Visual Odometry Based on Lines. in 11th International Conference on Computer Vision Theory and Applications (VISAPP), 2016