Development of Stereo Visual Odometry Based on Photogrammetric Feature Optimization

Remote Sensing

Sung-Joo Yoon¹  Taejung Kim¹ 

[1] Department of Geoinformatic Engineering, Inha University, 100 Inharo, Michuhol-gu, Incheon 22212, Korea;

关键词: stereo visual odometry;    photogrammetry;    feature optimization;    pose estimation;    KITTI;   

DOI  :  10.3390/rs11010067

来源: DOAJ

【 摘 要 】

One of the important image processing technologies is visual odometry (VO) technology. VO estimates platform motion through a sequence of images. VO is of interest in the virtual reality (VR) industry as well as the automobile industry because the construction cost is low. In this study, we developed stereo visual odometry (SVO) based on photogrammetric geometric interpretation. The proposed method performed feature optimization and pose estimation through photogrammetric bundle adjustment. After corresponding the point extraction step, the feature optimization was carried out with photogrammetry-based and vision-based optimization. Then, absolute orientation was performed for pose estimation through bundle adjustment. We used ten sequences provided by the Karlsruhe institute of technology and Toyota technological institute (KITTI) community. Through a two-step optimization process, we confirmed that the outliers, which were not removed by conventional outlier filters, were removed. We also were able to confirm the applicability of photogrammetric techniques to stereo visual odometry technology.

【 授权许可】

Unknown