Plane Based Visual Odometry for Structural and Low-Texture Environments Using RGB-D Sensors

Plane Based Visual Odometry for Structural and Low-Texture Environments Using RGB-D Sensors

This paper exploits planes instead of feature points, and proposes a visual odometry approach to estimate sensors' poses for structural and low-texture environments. We construct constraints for factor graph by utilizing the associated planes based on line features, and we derive the analytic j...

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Bibliographic Details
Published in:2019 IEEE International Conference on Big Data and Smart Computing (BigComp) pp. 1 - 4
Main Authors: Guo, Ruibin, Zhou, Dongxiang, Peng, Keju, Liu, Yunhui
Format: Conference Proceeding
Language:English
Published: IEEE 01-02-2019
Subjects:
analytic jacobian
Cameras
Jacobian matrices
Optimization
plane-based factor graph
Pose estimation
Sensors
Three-dimensional displays
Visual odometry
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Summary:This paper exploits planes instead of feature points, and proposes a visual odometry approach to estimate sensors' poses for structural and low-texture environments. We construct constraints for factor graph by utilizing the associated planes based on line features, and we derive the analytic jacobian for planes' minimal representation to speed up the optimize process. Experiments demonstrate the effectiveness and robustness of our proposed method and show its advantages over alternative methods.
ISSN:2375-9356
DOI:10.1109/BIGCOMP.2019.8679500