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2012
IEEE

Real-time 6D stereo Visual Odometry with non-overlapping fields of view

7 years 3 months ago
Real-time 6D stereo Visual Odometry with non-overlapping fields of view
In this paper, we present a framework for 6D absolute scale motion and structure estimation of a multi-camera system in challenging indoor environments. It operates in real-time and employs information from two cameras with non-overlapping fields of view. Monocular Visual Odometry supplying up-to-scale 6D motion information is carried out in each of the cameras, and the metric scale is recovered via a linear solution by imposing the known static transformation between both sensors. The redundancy in the motion estimates is finally exploited by a statistical fusion to an optimal 6D metric result. The proposed technique is robust to outliers and able to continuously deliver a reasonable measurement of the scale factor. The quality of the framework is demonstrated by a concise evaluation on indoor datasets, including a comparison to accurate ground truth data provided by an external motion tracking system.
Tim Kazik, Laurent Kneip, Janosch Nikolic, Marc Po
Added 28 Sep 2012
Updated 28 Sep 2012
Type Journal
Year 2012
Where CVPR
Authors Tim Kazik, Laurent Kneip, Janosch Nikolic, Marc Pollefeys, Roland Siegwart
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