Real-time depth camera tracking with geometrically stable weight algorithm
文献类型：期刊论文
| 作者 | Fu XY(付兴银) ; Zhu F(朱枫); Qi F(祁峰); Wang MM(王明明)
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| 刊名 | Optical Engineering
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| 出版日期 | 2017 |
| 卷号 | 56期号:3页码:1-10 |
| 关键词 | camera tracking weight algorithm shuffle depth camera reduction |
| ISSN号 | 0091-3286 |
| 产权排序 | 1 |
| 通讯作者 | 朱枫 |
| 中文摘要 | We present an approach for real-time camera tracking with depth stream. Existing methods are prone to drift in sceneries without sufficient geometric information. First, we propose a new weight method for an iterative closest point algorithm commonly used in real-time dense mapping and tracking systems. By detecting uncertainty in pose and increasing weight of points that constrain unstable transformations, our system achieves accurate and robust trajectory estimation results. Our pipeline can be fully parallelized with GPU and incorporated into the current real-time depth camera tracking system seamlessly. Second, we compare the state-of-the-art weight algorithms and propose a weight degradation algorithm according to the measurement characteristics of a consumer depth camera. Third, we use Nvidia Kepler Shuffle instructions during warp and block reduction to improve the efficiency of our system. Results on the public TUM RGB-D database benchmark demonstrate that our camera tracking system achieves state-of-the-art results both in accuracy and efficiency. |
| WOS标题词 | Science & Technology ; Physical Sciences |
| 类目[WOS] | Optics |
| 研究领域[WOS] | Optics |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000397207200028 |
| 源URL | [http://ir.sia.cn/handle/173321/20297]  |
| 专题 | 沈阳自动化研究所_光电信息技术研究室 |
| 推荐引用方式 GB/T 7714 | Fu XY,Zhu F,Qi F,et al. Real-time depth camera tracking with geometrically stable weight algorithm[J]. Optical Engineering,2017,56(3):1-10. |
| APA | Fu XY,Zhu F,Qi F,&Wang MM.(2017).Real-time depth camera tracking with geometrically stable weight algorithm.Optical Engineering,56(3),1-10. |
| MLA | Fu XY,et al."Real-time depth camera tracking with geometrically stable weight algorithm".Optical Engineering 56.3(2017):1-10. |
入库方式： OAI收割
来源：沈阳自动化研究所
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