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Authors: Thomas Holzmann ; Friedrich Fraundorfer and Horst Bischof

Affiliation: Graz University of Technology, Austria

Keyword(s): Visual Odometry, Pose Estimation, Simultaneous Localisation and Mapping.

Related Ontology Subjects/Areas/Topics: Applications ; Computer Vision, Visualization and Computer Graphics ; Motion, Tracking and Stereo Vision ; Pattern Recognition ; Robotics ; Software Engineering ; Stereo Vision and Structure from Motion ; Tracking and Visual Navigation

Abstract: We propose a novel stereo visual odometry approach, which is especially suited for poorly textured environments. We introduce a novel, fast line segment detector and matcher, which detects vertical lines supported by an IMU. The patches around lines are then used to directly estimate the pose of consecutive cameras by minimizing the photometric error. Our algorithm outperforms state-of-the-art approaches in challenging environments. Our implementation runs in real-time and is therefore well suited for various robotics and augmented reality applications.

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Paper citation in several formats:
Holzmann, T.; Fraundorfer, F. and Bischof, H. (2016). Direct Stereo Visual Odometry based on Lines. In Proceedings of the 11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2016) - Volume 3: VISAPP; ISBN 978-989-758-175-5; ISSN 2184-4321, SciTePress, pages 474-485. DOI: 10.5220/0005715604740485

@conference{visapp16,
author={Thomas Holzmann. and Friedrich Fraundorfer. and Horst Bischof.},
title={Direct Stereo Visual Odometry based on Lines},
booktitle={Proceedings of the 11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2016) - Volume 3: VISAPP},
year={2016},
pages={474-485},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005715604740485},
isbn={978-989-758-175-5},
issn={2184-4321},
}

TY - CONF

JO - Proceedings of the 11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2016) - Volume 3: VISAPP
TI - Direct Stereo Visual Odometry based on Lines
SN - 978-989-758-175-5
IS - 2184-4321
AU - Holzmann, T.
AU - Fraundorfer, F.
AU - Bischof, H.
PY - 2016
SP - 474
EP - 485
DO - 10.5220/0005715604740485
PB - SciTePress

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