Robust Edge-Direct Visual Odometry based on CNN edge detection and Shi-Tomasi corner optimization Article Swipe

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Kengdong Lu , Jintao Cheng , Yubin Zhou , Juncan Deng , Rui Fan , Kaiqing Luo ·

YOU? · · 2021 · Open Access · · DOI: https://doi.org/10.48550/arxiv.2110.11064

In this paper, we propose a robust edge-direct visual odometry (VO) based on CNN edge detection and Shi-Tomasi corner optimization. Four layers of pyramids were extracted from the image in the proposed method to reduce the motion error between frames. This solution used CNN edge detection and Shi-Tomasi corner optimization to extract information from the image. Then, the pose estimation is performed using the Levenberg-Marquardt (LM) algorithm and updating the keyframes. Our method was compared with the dense direct method, the improved direct method of Canny edge detection, and ORB-SLAM2 system on the RGB-D TUM benchmark. The experimental results indicate that our method achieves better robustness and accuracy.

Related Topics

Artificial Intelligence

Enhanced Data Rates For Gsm Evolution

Corner Detection

Benchmark (Surveying)

Concepts

Artificial intelligence Visual odometry Robustness (evolution) Computer vision Canny edge detector Computer science Edge detection Enhanced Data Rates for GSM Evolution Corner detection Benchmark (surveying) Image gradient RGB color model Image (mathematics) Image processing Robot Chemistry Biochemistry Geodesy Geography Gene

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Type: preprint
Language: en
Landing Page: http://arxiv.org/abs/2110.11064
PDF: https://arxiv.org/pdf/2110.11064
OA Status: green
Related Works: 10
OpenAlex ID: https://openalex.org/W4286897963

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DOI: https://doi.org/10.48550/arxiv.2110.11064

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Title: Robust Edge-Direct Visual Odometry based on CNN edge detection and Shi-Tomasi corner optimization

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Type: preprint

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Language: en

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Publication year: 2021

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Publication date: 2021-10-21

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Authors: Kengdong Lu, Jintao Cheng, Yubin Zhou, Juncan Deng, Rui Fan, Kaiqing Luo

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Landing page: https://arxiv.org/abs/2110.11064

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PDF URL: https://arxiv.org/pdf/2110.11064

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Concepts: Artificial intelligence, Visual odometry, Robustness (evolution), Computer vision, Canny edge detector, Computer science, Edge detection, Enhanced Data Rates for GSM Evolution, Corner detection, Benchmark (surveying), Image gradient, RGB color model, Image (mathematics), Image processing, Robot, Chemistry, Biochemistry, Geodesy, Geography, Gene

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