Robust stereo visual odometry based on points and lines

	Robust stereo visual odometry based on points and lines
	Zhang, Jhua 1,2; Zhou, Youjie 2; Zhao, Yan 3; Xue, Yuan 2; Zhang, Lin 2; Zhao, Aidi 2; He, Wei 2
	2019
会议日期	August 28-30, 2019
会议地点	Shenyang, China
关键词	visual odometry points and line features SAD adaptive weight model region growth
页码	1-7
英文摘要	Due to the difference of scenes, the uncertainty of detection for line features in stereo visual odometer reduces the accuracy of initialization for line features, and the point-line fusion visual odometry is easy to cause uneven distribution of features in feature extraction and matching process. The problems, which will lead to incomplete feature extraction and thus inaccuracy of pose estimation. In order to solve the problems, we design a stereo visual odometry system called PLWM-VO, which adaptively allocates the weights of the point features and the endpoints of line features in each frame through the adaptive weight assignment model. Firstly, the improved SAD algorithm is used to accurately detect the endpoints of line features, through which improves the registration accuracy of line features' endpoints in the left and right, and improves the accuracy of line features in the initialization process. Secondly, the adaptive weight assignment model based on region partition assigns weights to point features and endpoints of line features. In this process, the effect of uneven feature distribution on the accuracy of pose estimation is reduced by region growth. Finally, experiment results on the open dataset shows that the proposed algorithm exhibits higher precision and stability than the state-of-the-art methods, which improves the positioning accuracy of our designed stereo visual odometry system.
源文献作者	Chinese Society for Optical Engineering
产权排序	1
会议录	Second Target Recognition and Artificial Intelligence Summit Forum
会议录出版者	SPIE
会议录出版地	Bellingham, USA
语种	英语
ISSN号	0277-786X
ISBN号	978-1-5106-3631-6
WOS记录号	WOS:000546230500073
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/26414]
专题	沈阳自动化研究所_其他
通讯作者	Zhang, Jhua
作者单位	1.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 2.School of Mechanical Engineering, Hebei University of Technology, Tianjin 300132, China 3.School of Life Science, Beijing Institute of Technology, Beijing 100081, China
推荐引用方式 GB/T 7714	Zhang, Jhua,Zhou, Youjie,Zhao, Yan,et al. Robust stereo visual odometry based on points and lines[C]. 见:. Shenyang, China. August 28-30, 2019.