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FSVO: SEMI-DIRECT MONOCULAR VISUAL ODOMETRY USING FIXED MAPS

Abstract: 

We propose a fixed-map semi-direct visual odometry (FSVO) algorithm for Micro Aerial Vehicles (MAVs). The proposed approach does not need computationally expensive feature extraction and matching techniques for motion estimation at each frame. Instead, we extract and match ORiented Brief (ORB) features between keyframes and assist-frames. We replace the incremental map generation step in traditional algorithms with fixed map generation at keyframe and assist- frame only in our algorithm, resulting in reduced storage memory and higher flexibility for relocalization. Based on the fixed-map, we design a new keyframe selection criterion and a relocalization step. Our algorithm has no limit on the orientation of the camera and reduces drifting effectively. Experimental results on the EuRoC and KITTI datasets show that our algorithm achieves higher precision and robustness than the SVO algorithm.

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Paper Details

Authors:
Yulan Guo, Zaiping Lin, Wei An
Submitted On:
14 September 2017 - 9:25pm
Short Link:
Type:
Poster
Event:
Presenter's Name:
Zhiheng Fu
Paper Code:
2385
Document Year:
2017
Cite

Document Files

ICIP2017-PosterPresentation.pdf

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[1] Yulan Guo, Zaiping Lin, Wei An, "FSVO: SEMI-DIRECT MONOCULAR VISUAL ODOMETRY USING FIXED MAPS", IEEE SigPort, 2017. [Online]. Available: http://sigport.org/2061. Accessed: Jul. 23, 2019.
@article{2061-17,
url = {http://sigport.org/2061},
author = {Yulan Guo; Zaiping Lin; Wei An },
publisher = {IEEE SigPort},
title = {FSVO: SEMI-DIRECT MONOCULAR VISUAL ODOMETRY USING FIXED MAPS},
year = {2017} }
TY - EJOUR
T1 - FSVO: SEMI-DIRECT MONOCULAR VISUAL ODOMETRY USING FIXED MAPS
AU - Yulan Guo; Zaiping Lin; Wei An
PY - 2017
PB - IEEE SigPort
UR - http://sigport.org/2061
ER -
Yulan Guo, Zaiping Lin, Wei An. (2017). FSVO: SEMI-DIRECT MONOCULAR VISUAL ODOMETRY USING FIXED MAPS. IEEE SigPort. http://sigport.org/2061
Yulan Guo, Zaiping Lin, Wei An, 2017. FSVO: SEMI-DIRECT MONOCULAR VISUAL ODOMETRY USING FIXED MAPS. Available at: http://sigport.org/2061.
Yulan Guo, Zaiping Lin, Wei An. (2017). "FSVO: SEMI-DIRECT MONOCULAR VISUAL ODOMETRY USING FIXED MAPS." Web.
1. Yulan Guo, Zaiping Lin, Wei An. FSVO: SEMI-DIRECT MONOCULAR VISUAL ODOMETRY USING FIXED MAPS [Internet]. IEEE SigPort; 2017. Available from : http://sigport.org/2061