Semi-independent Stereo Visual Odometry for Different Field of View Cameras
In: 3D Reconstruction in the Wild (3DRW2018) ; https://hal.science/hal-01912878 ; 3D Reconstruction in the Wild (3DRW2018), Sep 2018, Munich, Germany, 2018
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International audience ; This paper presents a pipeline for stereo visual odometry using cameras with different fields of view. It gives a proof of concept about how a constraint on the respective field of view of each camera can lead to both an accurate 3D reconstruction and a robust pose estimation. Indeed, when considering a fixed resolution, a narrow field of view has a higher angular resolution and can preserve image texture details. On the other hand, a wide field of view allows to track features over longer periods since the overlap between two successive frames is more substantial. We propose a semi-independent stereo system where each camera performs individually temporal multi-view optimization but their initial parameters are still jointly optimized in an iterative framework. Furthermore , the concept of lead and follow camera is introduced to adaptively propagate information between the cameras. We evaluate the method qualitatively on two indoor datasets, and quantitatively on a synthetic dataset to allow the comparison across different fields of view.
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Semi-independent Stereo Visual Odometry for Different Field of View Cameras
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Autor/in / Beteiligte Person: | Truong, Trong, Phuc ; Nozick, Vincent ; Saito, Hideo ; hyper vision research lab (hvrl) ; Laboratoire d'Informatique Gaspard-Monge (LIGM) ; Université Paris-Est Marne-la-Vallée (UPEM)-École des Ponts ParisTech (ENPC)-ESIEE Paris-Fédération de Recherche Bézout (BEZOUT) ; Centre National de la Recherche Scientifique (CNRS)-Centre National de la Recherche Scientifique (CNRS)-Centre National de la Recherche Scientifique (CNRS) ; Japanese French Laboratory for Informatics (JFLI) ; National Institute of Informatics (NII)-Université Pierre et Marie Curie - Paris 6 (UPMC)-The University of Tokyo (UTokyo)-Centre National de la Recherche Scientifique (CNRS) |
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Zeitschrift: | 3D Reconstruction in the Wild (3DRW2018) ; https://hal.science/hal-01912878 ; 3D Reconstruction in the Wild (3DRW2018), Sep 2018, Munich, Germany, 2018 |
Veröffentlichung: | HAL CCSD, 2018 |
Medientyp: | Konferenz |
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