Solving the PnP Problem for Visual Odometry – An Evaluation of Methodologies for Mobile Robots

Aufderheide, Dominik; Krybus, Werner; Witkowski, Ulf; Edwards, Gerard

doi:10.1007/978-3-642-32527-4_54

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2015

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“…For this visual-based relative pose estimators need to be evaluated to get a handle on the accuracy (see Aufderheide et al [4]). …”

Section: Resultsmentioning

confidence: 99%

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Visual-Inertial 2D Feature Tracking based on an Affine Photometric Model

Aufderheide

Edwards

Krybus

2015

Lecture Notes in Computational Vision and Biomechanics

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The robust tracking of point features throughout an image sequence is one fundamental stage in many different computer vision algorithms (e.g. visual modelling, object tracking, etc.). In most cases, this tracking is realised by means of a feature detection step and then a subsequent re-identification of the same feature point, based on some variant of a template matching algorithm. Without any auxiliary knowledge about the movement of the camera, actual tracking techniques are only robust for relatively moderate frame-to-frame feature displacements. This paper presents a framework for a visual-inertial feature tracking scheme, where images and measurements of an inertial measurement unit (IMU) are fused in order to allow a wider range of camera movements. The inertial measurements are used to estimate the visual appearance of a feature's local neighbourhood based on a affine photometric warping model.

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“…For this visual-based relative pose estimators need to be evaluated to get a handle on the accuracy (see Aufderheide et al [4]). …”

Section: Resultsmentioning

confidence: 99%

“…T is available that allows a rotation from body frame B to reference (or navigation) frame N by using the direct cosine matrix (DCM) C b n , defined as follows 4 :…”

Section: Fusion For Positionmentioning

confidence: 99%