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Type Conference or Workshop Paper
Scope Discipline-based scholarship
Published in Proceedings Yes
Title SVO: fast semi-direct monocular visual odometry
Organization Unit
Authors
  • Christian Forster
  • Matia Pizzoli
  • Davide Scaramuzza
Presentation Type paper
Item Subtype Original Work
Refereed Yes
Status Published in final form
Language
  • English
ISSN 1050-4729
Page Range 15 - 22
Event Title IEEE International Conference on Robotics and Automation (ICRA)
Event Type conference
Event Location Hong Kong
Event Start Date May 31 - 2014
Event End Date June 7 - 2014
Series Name IEEE International Conference on Robotics and Automation. Proceedings
Place of Publication Hong Kong
Publisher Institute of Electrical and Electronics Engineers
Abstract Text We propose a semi-direct monocular visual odometry algorithm that is precise, robust, and faster than current state-of-the-art methods. The semi-direct approach eliminates the need of costly feature extraction and robust matching techniques for motion estimation. Our algorithm operates directly on pixel intensities, which results in subpixel precision at high frame-rates. A probabilistic mapping method that explicitly models outlier measurements is used to estimate 3D points, which results in fewer outliers and more reliable points. Precise and high frame-rate motion estimation brings increased robustness in scenes of little, repetitive, and high-frequency texture. The algorithm is applied to micro-aerial-vehicle state-estimation in GPS-denied environments and runs at 55 frames per second on the onboard embedded computer and at more than 300 frames per second on a consumer laptop. We call our approach SVO (Semi-direct Visual Odometry) and release our implementation as open-source software.
Related URLs
Digital Object Identifier 10.1109/ICRA.2014.6906584
Other Identification Number merlin-id:10212
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