Combining 2D to 2D and 3D to 2D Point Correspondences for Stereo Visual Odometry

Stephan Manthe, Adrian Carrio, Frank Neuhaus, Pascual Campoy, Dietrich Paulus

Abstract

Self-localization and motion estimation are requisite skills for autonomous robots. They enable the robot to navigate autonomously without relying on external positioning systems. The autonomous navigation can be achieved by making use of a stereo camera on board the robot. In this work a stereo visual odometry algorithm is developed which uses FAST features in combination with the Rotated-BRIEF descriptor and an approach for feature tracking. For motion estimation we utilize 3D to 2D point correspondences as well as 2D to 2D point correspondences. First we estimate an initial relative pose by decomposing the essential matrix. After that we refine the initial motion estimate by solving an optimization problem that minimizes the reprojection error as well as a cost function based on the epipolar constraint. The second cost function enables us to take also advantage of useful information from 2D to 2D point correspondences. Finally, we evaluate the implemented algorithm on the well known KITTI and EuRoC datasets.

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Paper Citation


in Harvard Style

Manthe S., Carrio A., Neuhaus F., Campoy P. and Paulus D. (2018). Combining 2D to 2D and 3D to 2D Point Correspondences for Stereo Visual Odometry.In Proceedings of the 13th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 5: VISAPP, ISBN 978-989-758-290-5, pages 455-463. DOI: 10.5220/0006623604550463


in Bibtex Style

@conference{visapp18,
author={Stephan Manthe and Adrian Carrio and Frank Neuhaus and Pascual Campoy and Dietrich Paulus},
title={Combining 2D to 2D and 3D to 2D Point Correspondences for Stereo Visual Odometry},
booktitle={Proceedings of the 13th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 5: VISAPP,},
year={2018},
pages={455-463},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006623604550463},
isbn={978-989-758-290-5},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 13th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 5: VISAPP,
TI - Combining 2D to 2D and 3D to 2D Point Correspondences for Stereo Visual Odometry
SN - 978-989-758-290-5
AU - Manthe S.
AU - Carrio A.
AU - Neuhaus F.
AU - Campoy P.
AU - Paulus D.
PY - 2018
SP - 455
EP - 463
DO - 10.5220/0006623604550463