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Authors: Stephan Manthe 1 ; Adrian Carrio 2 ; Frank Neuhaus 1 ; Pascual Campoy 2 and Dietrich Paulus 1

Affiliations: 1 University of Koblenz-Landau, Germany ; 2 Universidad Politécnica de Madrid, Spain

Keyword(s): Visual Stereo Odometry, Epipolar Constraint, Bundle Adjustment.

Related Ontology Subjects/Areas/Topics: Active and Robot Vision ; Applications ; Computer Vision, Visualization and Computer Graphics ; Motion, Tracking and Stereo Vision ; Pattern Recognition ; Robotics ; Software Engineering ; Stereo Vision and Structure from Motion ; Tracking and Visual Navigation

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 kno wn KITTI and EuRoC datasets. (More)

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Paper citation in several formats:
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 (VISIGRAPP 2018) - Volume 5: VISAPP; ISBN 978-989-758-290-5; ISSN 2184-4321, SciTePress, pages 455-463. DOI: 10.5220/0006623604550463

@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 (VISIGRAPP 2018) - Volume 5: VISAPP},
year={2018},
pages={455-463},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006623604550463},
isbn={978-989-758-290-5},
issn={2184-4321},
}

TY - CONF

JO - Proceedings of the 13th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2018) - Volume 5: VISAPP
TI - Combining 2D to 2D and 3D to 2D Point Correspondences for Stereo Visual Odometry
SN - 978-989-758-290-5
IS - 2184-4321
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
PB - SciTePress

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