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

研究成果: 書貢獻/報告類型會議貢獻

2 引文 斯高帕斯(Scopus)

摘要

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.

原文英語
主出版物標題2017 IEEE 7th International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2017
發行者IEEE Computer Society
頁面29-30
頁數2
ISBN(電子)9781509040148
DOIs
出版狀態已發佈 - 2017 十二月 14
事件7th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2017 - Berlin, 德国
持續時間: 2017 九月 32017 九月 6

出版系列

名字IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin
2017-September
ISSN(列印)2166-6814
ISSN(電子)2166-6822

其他

其他7th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2017
國家德国
城市Berlin
期間2017/09/032017/09/06

ASJC Scopus subject areas

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

指紋 深入研究「Improved visual odometry system based on kinect RGB-D sensor」主題。共同形成了獨特的指紋。

引用此