相关论文: Edge-Direct Visual Odometry

Most visual odometry algorithm for a monocular camera focuses on points, either by feature matching, or direct alignment of pixel intensity, while ignoring a common but important geometry entity: edges. In this paper, we propose an odometry…

Visual odometry is important for plenty of applications such as autonomous vehicles, and robot navigation. It is challenging to conduct visual odometry in textureless scenes or environments with sudden illumination changes where popular…

In this paper, we propose a robust edge-direct visual odometry (VO) based on CNN edge detection and Shi-Tomasi corner optimization. Four layers of pyramids were extracted from the image in the proposed method to reduce the motion error…

We propose a novel direct sparse visual odometry formulation. It combines a fully direct probabilistic model (minimizing a photometric error) with consistent, joint optimization of all model parameters, including geometry -- represented as…

This paper presents an edge detection method based on global and local parameters of the image, which produces satisfactory results on the edge detection of complex images and has a simple structure for execution. The local and global…

The present paper reviews the classical problem of free-form curve registration and applies it to an efficient RGBD visual odometry system called Canny-VO, as it efficiently tracks all Canny edge features extracted from the images. Two…

This paper presents a robust and efficient semi-dense visual odometry solution for RGB-D cameras. The core of our method is a 2D-3D ICP pipeline which estimates the pose of the sensor by registering the projection of a 3D semi-dense map of…

Direct methods for event-based visual odometry solve the mapping and camera pose tracking sub-problems by establishing implicit data association in a way that the generative model of events is exploited. The main bottlenecks faced by…

Edges of an image are considered a crucial type of information. These can be extracted by applying edge detectors with different methodology. Edge detection is a vital step in computer vision tasks, because it is an essential issue for…

Visual odometry is the process of estimating the position and orientation of a camera by analyzing the images associated to it. This paper develops a quick and accurate approach to visual odometry of a moving RGB-D camera navigating on a…

This paper proposes a novel method which combines both median filter and simple standard deviation to accomplish an excellent edge detector for image processing. First of all, a denoising process must be applied on the grey scale image…

Our work aims to estimate the camera motion mounted on the head of a mobile robot or a moving object from RGB-D images in a static scene. The problem of motion estimation is transformed into a nonlinear least squares function. Methods for…

Visual odometry techniques typically rely on feature extraction from a sequence of images and subsequent computation of optical flow. This point-to-point correspondence between two consecutive frames can be costly to compute and suffers…

In the paper, we propose a robust real-time visual odometry in dynamic environments via rigid-motion model updated by scene flow. The proposed algorithm consists of spatial motion segmentation and temporal motion tracking. The spatial…

The existing traditional edge detection algorithms process a single pixel on an image at a time, thereby calculating a value which shows the edge magnitude of the pixel and the edge orientation. Most of these existing algorithms convert the…

Edge detection is one of the most critical tasks in automatic image analysis. There exists no universal edge detection method which works well under all conditions. This paper shows the new approach based on the one of the most efficient…

Detecting edges is a fundamental problem in computer vision with many applications, some involving very noisy images. While most edge detection methods are fast, they perform well only on relatively clean images. Indeed, edges in such…

In this work, we propose a monocular visual odometry framework, which allows exploiting the best attributes of edge feature for illumination-robust camera tracking, while at the same time ameliorating the performance degradation of edge…

Active depth cameras suffer from several limitations, which cause incomplete and noisy depth maps, and may consequently affect the performance of RGB-D Odometry. To address this issue, this paper presents a visual odometry method based on…

Detecting the edges of objects within images is critical for quality image processing. We present an edge-detecting technique that uses morphological amoebas that adjust their shape based on variation in image contours. We evaluate the…