State of the art visual odometry systems use bundle adjustment (BA) like methods to jointly optimize motion and scene structure. Fusing measurements from multiple time steps and optimizing an error criterion in a batch fashion seems to deliver the most accurate results. However, often the scene structure is of no interest and is a mere auxiliary quantity although it contributes heavily to the complexity of the problem. Herein we propose to use a recently developed incremental motion estimator which delivers relative pose displacements between each two frames within a sliding window inducing a pose graph. Moreover, we introduce a method to learn the uncertainty associated with each of the pose displacements. The pose graph is adjusted by non-linear least squares optimization while incorporating a motion model. Thereby we fuse measurements from multiple time steps much in the same sense as BA does. However, we obviate the need to estimate the scene structure yielding a very efficient estimator: Solving the nonlinear least squares problem by a Gauss-Newton method takes approximately 1ms. We show the effectiveness of our method on simulated and real world data and demonstrate substantial improvements over incremental methods.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Motion-without-structure: Real-time multipose optimization for accurate visual odometry


    Contributors:


    Publication date :

    2012-06-01


    Size :

    867400 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Motion-Without-Structure: Real-Time Multipose Optimization for Accurate Visual Odometry

    Lategahn, H. / Geiger, A. / Kitt, B. et al. | British Library Conference Proceedings | 2012


    Selective visual odometry for accurate AUV localization

    Bellavia, F. | British Library Online Contents | 2017


    MC-VEO: A Visual-Event Odometry With Accurate 6-DoF Motion Compensation

    Huang, Jiafeng / Zhao, Shengjie / Zhang, Tianjun et al. | IEEE | 2024


    Accurate Visual Odometry from a Rear Parking Camera

    Lovegrove, S.J. / Davison, A.J. / Ibanez Guzman, J. et al. | British Library Conference Proceedings | 2011


    Visual Odometry

    Nister, D. / Naroditsky, O. / Bergen, J. et al. | British Library Conference Proceedings | 2004