Real-time 6D stereo visual odometry with non overlapping fields of view

Date

2012

Authors

Kazik, Tim
Kneip, Laurent
Nikolic, Janosch
Pollefeys, Marc
Siegwart, Roland

Journal Title

Journal ISSN

Volume Title

Publisher

Institute of Electrical and Electronics Engineers (IEEE Inc)

Abstract

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.

Description

Keywords

Keywords: Data sets; Fields of views; Ground truth data; Indoor environment; Linear solution; Motion and structure; Motion estimates; Motion information; Motion tracking system; Multicamera systems; Scale Factor; Static transformation; Visual odometry; Linear trans

Citation

Source

A Simple Prior-free Method for Non-Rigid Structure-from-Motion Factorization

Type

Conference paper

Book Title

Entity type

Access Statement

License Rights

DOI

10.1109/CVPR.2012.6247843

Restricted until

2037-12-31