Accurate keyframe selection and keypoint tracking for robust visual odometry
نویسندگان
چکیده
منابع مشابه
Grid-based Spatial Keypoint Selection for Real Time Visual Odometry
Robotic systems can achieve real-time visual odometry by extracting a fixed number of invariant keypoints from the current camera frame, matching them against keypoints from a previous frame, and calculating camera motion from matching pairs. If keypoints are selected by response only they can become concentrated in a small image region. This decreases the chance for keypoints to match between ...
متن کاملAccurate Scale Estimation for Robust Visual Tracking
Robust scale estimation is a challenging problem in visual object tracking. Most existing methods fail to handle large scale variations in complex image sequences. This paper presents a novel approach for robust scale estimation in a tracking-by-detection framework. The proposed approach works by learning discriminative correlation filters based on a scale pyramid representation. We learn separ...
متن کاملDANELLJAN et al.: ACCURATE SCALE ESTIMATION FOR ROBUST VISUAL TRACKING 1 Accurate Scale Estimation for Robust Visual Tracking
Robust scale estimation is a challenging problem in visual object tracking. Most existing methods fail to handle large scale variations in complex image sequences. This paper presents a novel approach for robust scale estimation in a tracking-by-detection framework. The proposed approach works by learning discriminative correlation filters based on a scale pyramid representation. We learn separ...
متن کاملSelecting Feature Detectors for Accurate Visual Odometry
This work analyzes the performances of different feature detectors/descriptors in the context of incremental path estimation from passive stereo vision (Visual Odometry). Several state-of-the-art approaches have been tested, including a fast Hessian-based feature detector/descriptor developed at INRIM. Tests on both synthetic image sequences and real data show that in this particular applicatio...
متن کاملKeyframe-based visual-inertial odometry using nonlinear optimization
Combining visual and inertial measurements has become popular in mobile robotics, since the two sensing modalities offer complementary characteristics that make them the ideal choice for accurate Visual-Inertial Odometry or Simultaneous Localization and Mapping (SLAM). While historically the problem has been addressed with filtering, advancements in visual estimation suggest that non-linear opt...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Machine Vision and Applications
سال: 2016
ISSN: 0932-8092,1432-1769
DOI: 10.1007/s00138-016-0793-3