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.
|Title of host publication||11th International Conference on Computer Vision Theory and Applications (VISAPP), 2016|
|Publication status||Published - Feb 2016|
|Event||11th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications: VISIGRAPP 2016 - Rome, Italy|
Duration: 27 Feb 2016 → 29 Feb 2016
|Conference||11th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications|
|Period||27/02/16 → 29/02/16|