Extending Monocular Visual Odometry to Stereo Camera Systems by Scale Optimization Article Swipe
Jiawei Mo
,
Junaed Sattar
·
YOU?
·
· 2019
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.1905.12723
YOU?
·
· 2019
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.1905.12723
This paper proposes a novel approach for extending monocular visual odometry to a stereo camera system. The proposed method uses an additional camera to accurately estimate and optimize the scale of the monocular visual odometry, rather than triangulating 3D points from stereo matching. Specifically, the 3D points generated by the monocular visual odometry are projected onto the other camera of the stereo pair, and the scale is recovered and optimized by directly minimizing the photometric error. It is computationally efficient, adding minimal overhead to the stereo vision system compared to straightforward stereo matching, and is robust to repetitive texture. Additionally, direct scale optimization enables stereo visual odometry to be purely based on the direct method. Extensive evaluation on public datasets (e.g., KITTI), and outdoor environments (both terrestrial and underwater) demonstrates the accuracy and efficiency of a stereo visual odometry approach extended by scale optimization, and its robustness in environments with challenging textures.
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Metadata
- Type
- preprint
- Language
- en
- Landing Page
- http://arxiv.org/abs/1905.12723
- https://arxiv.org/pdf/1905.12723
- OA Status
- green
- References
- 19
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W2947241406
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W2947241406Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.48550/arxiv.1905.12723Digital Object Identifier
- Title
-
Extending Monocular Visual Odometry to Stereo Camera Systems by Scale OptimizationWork title
- Type
-
preprintOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2019Year of publication
- Publication date
-
2019-05-29Full publication date if available
- Authors
-
Jiawei Mo, Junaed SattarList of authors in order
- Landing page
-
https://arxiv.org/abs/1905.12723Publisher landing page
- PDF URL
-
https://arxiv.org/pdf/1905.12723Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
-
https://arxiv.org/pdf/1905.12723Direct OA link when available
- Concepts
-
Visual odometry, Artificial intelligence, Computer vision, Monocular, Computer science, Odometry, Computer stereo vision, Robustness (evolution), Stereo cameras, Stereopsis, Stereo camera, Bundle adjustment, Robot, Photogrammetry, Mobile robot, Gene, Biochemistry, ChemistryTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
0Total citation count in OpenAlex
- References (count)
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19Number of works referenced by this work
- Related works (count)
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10Other works algorithmically related by OpenAlex
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| abstract_inverted_index.direct | 100, 113 |
| abstract_inverted_index.error. | 75 |
| abstract_inverted_index.method | 18 |
| abstract_inverted_index.points | 39, 46 |
| abstract_inverted_index.public | 118 |
| abstract_inverted_index.purely | 109 |
| abstract_inverted_index.rather | 35 |
| abstract_inverted_index.robust | 95 |
| abstract_inverted_index.stereo | 13, 41, 61, 85, 91, 104, 136 |
| abstract_inverted_index.system | 87 |
| abstract_inverted_index.vision | 86 |
| abstract_inverted_index.visual | 9, 33, 51, 105, 137 |
| abstract_inverted_index.KITTI), | 121 |
| abstract_inverted_index.enables | 103 |
| abstract_inverted_index.method. | 114 |
| abstract_inverted_index.minimal | 81 |
| abstract_inverted_index.outdoor | 123 |
| abstract_inverted_index.system. | 15 |
| abstract_inverted_index.accuracy | 131 |
| abstract_inverted_index.approach | 5, 139 |
| abstract_inverted_index.compared | 88 |
| abstract_inverted_index.datasets | 119 |
| abstract_inverted_index.directly | 71 |
| abstract_inverted_index.estimate | 25 |
| abstract_inverted_index.extended | 140 |
| abstract_inverted_index.odometry | 10, 52, 106, 138 |
| abstract_inverted_index.optimize | 27 |
| abstract_inverted_index.overhead | 82 |
| abstract_inverted_index.proposed | 17 |
| abstract_inverted_index.proposes | 2 |
| abstract_inverted_index.texture. | 98 |
| abstract_inverted_index.Extensive | 115 |
| abstract_inverted_index.extending | 7 |
| abstract_inverted_index.generated | 47 |
| abstract_inverted_index.matching, | 92 |
| abstract_inverted_index.matching. | 42 |
| abstract_inverted_index.monocular | 8, 32, 50 |
| abstract_inverted_index.odometry, | 34 |
| abstract_inverted_index.optimized | 69 |
| abstract_inverted_index.projected | 54 |
| abstract_inverted_index.recovered | 67 |
| abstract_inverted_index.textures. | 151 |
| abstract_inverted_index.accurately | 24 |
| abstract_inverted_index.additional | 21 |
| abstract_inverted_index.efficiency | 133 |
| abstract_inverted_index.efficient, | 79 |
| abstract_inverted_index.evaluation | 116 |
| abstract_inverted_index.minimizing | 72 |
| abstract_inverted_index.repetitive | 97 |
| abstract_inverted_index.robustness | 146 |
| abstract_inverted_index.challenging | 150 |
| abstract_inverted_index.photometric | 74 |
| abstract_inverted_index.terrestrial | 126 |
| abstract_inverted_index.underwater) | 128 |
| abstract_inverted_index.demonstrates | 129 |
| abstract_inverted_index.environments | 124, 148 |
| abstract_inverted_index.optimization | 102 |
| abstract_inverted_index.Additionally, | 99 |
| abstract_inverted_index.Specifically, | 43 |
| abstract_inverted_index.optimization, | 143 |
| abstract_inverted_index.triangulating | 37 |
| abstract_inverted_index.computationally | 78 |
| abstract_inverted_index.straightforward | 90 |
| cited_by_percentile_year | |
| countries_distinct_count | 1 |
| institutions_distinct_count | 2 |
| sustainable_development_goals[0].id | https://metadata.un.org/sdg/14 |
| sustainable_development_goals[0].score | 0.5299999713897705 |
| sustainable_development_goals[0].display_name | Life below water |
| citation_normalized_percentile |