VOPT: Robust Visual Odometry by Simultaneous Feature Matching and Camera Calibration

Rafael F. V. Saracchini, Carlos Catalina, Rodrigo Minetto, Jorge Stolfi

Abstract

In this paper we describe VOPT, a robust algorithm for visual odometry. It tracks features of the environment with known position in space, which can be acquired through monocular or RGBD SLAM mapping algorithms. The main idea of VOPT is to jointly optimize the matching of feature projections on successive frames, the camera’s extrinsic matrix, the photometric correction parameters, and the weight of each feature at the same time, by a multi-scale iterative procedure. VOPT uses GPU acceleration to achieve real-time performance, and includes robust procedures for automatic initialization and recovery, without user intervention. Our tests show that VOPT outperforms the PTAMM algorithm in challenging videos available publicly.

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Paper Citation


in Harvard Style

Saracchini R., Catalina C., Minetto R. and Stolfi J. (2016). VOPT: Robust Visual Odometry by Simultaneous Feature Matching and Camera Calibration . In Proceedings of the 11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2016) ISBN 978-989-758-175-5, pages 59-66. DOI: 10.5220/0005781700590066


in Bibtex Style

@conference{visapp16,
author={Rafael F. V. Saracchini and Carlos Catalina and Rodrigo Minetto and Jorge Stolfi},
title={VOPT: Robust Visual Odometry by Simultaneous Feature Matching and Camera Calibration},
booktitle={Proceedings of the 11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2016)},
year={2016},
pages={59-66},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005781700590066},
isbn={978-989-758-175-5},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2016)
TI - VOPT: Robust Visual Odometry by Simultaneous Feature Matching and Camera Calibration
SN - 978-989-758-175-5
AU - Saracchini R.
AU - Catalina C.
AU - Minetto R.
AU - Stolfi J.
PY - 2016
SP - 59
EP - 66
DO - 10.5220/0005781700590066