TY - GEN
T1 - Improved visual odometry system based on kinect RGB-D sensor
AU - Liu, Shen Ho
AU - Hsu, Chen Chien
AU - Wang, Wei Yen
AU - Chen, Mei Yung
AU - Wang, Yin Tien
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/14
Y1 - 2017/12/14
N2 - 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.
AB - 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.
KW - Perspective-3-point
KW - RANSAC
KW - Visual odometry
UR - http://www.scopus.com/inward/record.url?scp=85043977642&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85043977642&partnerID=8YFLogxK
U2 - 10.1109/ICCE-Berlin.2017.8210581
DO - 10.1109/ICCE-Berlin.2017.8210581
M3 - Conference contribution
AN - SCOPUS:85043977642
T3 - IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin
SP - 29
EP - 30
BT - 2017 IEEE 7th International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2017
PB - IEEE Computer Society
T2 - 7th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2017
Y2 - 3 September 2017 through 6 September 2017
ER -