Improved visual odometry system based on kinect RGB-D sensor

Shen Ho Liu, Chen Chien Hsu, Wei Yen Wang, Mei Yung Chen, Yin Tien Wang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

In conventional visual odometry (VO) systems, perspective-n-point (PnP) method and random sample consensus (RANSAC) algorithm are generally used to estimate camera poses. However, heavy computational burden is incurred, and the pose estimations are not reliable as well. Therefore, in this paper, an improved VO system is proposed, where an off-line camera calibration method is used to obtain lesser measurement errors of image features. Moreover, an improved approach of P3P algorithm is proposed to increase the efficiency of the VO system. To validate the performances of the proposed approach, several experiments are conducted based on a Kinect sensor, where accuracy of pose estimations and runtime efficiency are both improved in comparison to the conventional VO algorithms.

Original languageEnglish
Title of host publication2017 IEEE 7th International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2017
PublisherIEEE Computer Society
Pages29-30
Number of pages2
ISBN (Electronic)9781509040148
DOIs
Publication statusPublished - 2017 Dec 14
Event7th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2017 - Berlin, Germany
Duration: 2017 Sep 32017 Sep 6

Publication series

NameIEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin
Volume2017-September
ISSN (Print)2166-6814
ISSN (Electronic)2166-6822

Other

Other7th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2017
CountryGermany
CityBerlin
Period17/9/317/9/6

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Keywords

  • Perspective-3-point
  • RANSAC
  • Visual odometry

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering
  • Media Technology

Cite this

Liu, S. H., Hsu, C. C., Wang, W. Y., Chen, M. Y., & Wang, Y. T. (2017). Improved visual odometry system based on kinect RGB-D sensor. In 2017 IEEE 7th International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2017 (pp. 29-30). (IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin; Vol. 2017-September). IEEE Computer Society. https://doi.org/10.1109/ICCE-Berlin.2017.8210581