Robust stereo visual odometry based on points and lines
文献类型：会议论文
| 作者 | Zhang, Jhua1,3; Zhou, Youjie1; Zhao, Yan2; Xue, Yuan1; Zhang, Lin1; Zhao, Aidi1; He, Wei1 |
| 出版日期 | 2019 |
| 会议日期 | August 28-30, 2019 |
| 会议地点 | Shenyang, China |
| 关键词 | visual odometry points and line features SAD adaptive weight model region growth |
| 页码 | 1-7 |
| 英文摘要 | Due to the difference of scenes, the uncertainty of detection for line features in stereo visual odometer reduces the accuracy of initialization for line features, and the point-line fusion visual odometry is easy to cause uneven distribution of features in feature extraction and matching process. The problems, which will lead to incomplete feature extraction and thus inaccuracy of pose estimation. In order to solve the problems, we design a stereo visual odometry system called PLWM-VO, which adaptively allocates the weights of the point features and the endpoints of line features in each frame through the adaptive weight assignment model. Firstly, the improved SAD algorithm is used to accurately detect the endpoints of line features, through which improves the registration accuracy of line features' endpoints in the left and right, and improves the accuracy of line features in the initialization process. Secondly, the adaptive weight assignment model based on region partition assigns weights to point features and endpoints of line features. In this process, the effect of uneven feature distribution on the accuracy of pose estimation is reduced by region growth. Finally, experiment results on the open dataset shows that the proposed algorithm exhibits higher precision and stability than the state-of-the-art methods, which improves the positioning accuracy of our designed stereo visual odometry system. |
| 源文献作者 | Chinese Society for Optical Engineering |
| 产权排序 | 1 |
| 会议录 | Second Target Recognition and Artificial Intelligence Summit Forum
 |
| 会议录出版者 | SPIE |
| 会议录出版地 | Bellingham, USA |
| 语种 | 英语 |
| ISSN号 | 0277-786X |
| ISBN号 | 978-1-5106-3631-6 |
| WOS记录号 | WOS:000546230500073 |
| 源URL | [http://ir.sia.cn/handle/173321/26414]  |
| 专题 | 沈阳自动化研究所_其他 |
| 通讯作者 | Zhang, Jhua |
| 作者单位 | 1.School of Mechanical Engineering, Hebei University of Technology, Tianjin 300132, China 2.School of Life Science, Beijing Institute of Technology, Beijing 100081, China 3.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China |
| 推荐引用方式 GB/T 7714 | Zhang, Jhua,Zhou, Youjie,Zhao, Yan,et al. Robust stereo visual odometry based on points and lines[C]. 见:. Shenyang, China. August 28-30, 2019. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。