Direct Stereo Visual Odometry Based on Lines

Research output: Chapter in Book/Report/Conference proceedingConference paper

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.
Original languageEnglish
Title of host publication11th International Conference on Computer Vision Theory and Applications (VISAPP), 2016
Publication statusPublished - Feb 2016
Event11th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications: VISIGRAPP 2016 - Rome, Italy
Duration: 27 Feb 201629 Feb 2016

Conference

Conference11th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications
CountryItaly
CityRome
Period27/02/1629/02/16

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