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Robust RGB-D SLAM Using Point and Line Features for Low Textured Scene

Yajing Zou, Amr Eldemiry, Yaxin Li, Wu Chen
2020 Sensors  
Three-dimensional (3D) reconstruction using RGB-D camera with simultaneous color image and depth information is attractive as it can significantly reduce the cost of equipment and time for data collection  ...  To comprehensively fuse line constraints, we combine 2D and 3D line reprojection error with point reprojection error in a novel cost function.  ...  [19] presented Canny-VO, which extract Canny edge features and calculate the camera pose based on 3D-2D edge alignment.  ... 
doi:10.3390/s20174984 pmid:32887486 pmcid:PMC7506666 fatcat:cb2i7owb35ckncvuieordyai2e

DEVO: Depth-Event Camera Visual Odometry in Challenging Conditions [article]

Yi-Fan Zuo, Jiaqi Yang, Jiaben Chen, Xia Wang, Yifu Wang, Laurent Kneip
2022 arXiv   pre-print
The tracking module updates the camera pose through efficient, geometric semi-dense 3D-2D edge alignment.  ...  We extend conventional edge-based semi-dense visual odometry towards time-surface maps obtained from event streams.  ...  Our method relies on an approach similar to Canny-VO [7] and extracts edges from the event stream, assigns depth from the depth camera, and registers subsequent views by 3D-2D edge alignment.  ... 
arXiv:2202.02556v1 fatcat:2xluffdkj5ehrdca7c2gpcwcfy

Information-Driven Direct RGB-D Odometry

Alejandro Fontan, Javier Civera, Rudolph Triebel
2020 2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)  
This paper presents an information-theoretic approach to point selection for direct RGB-D odometry.  ...  It is usual practice in visual odometry/SLAM to track several hundreds of points, achieving real-time performance in high-end desktop PCs.  ...  Firstly, against Canny-VO [29], a recent RGB-D odometry based on geometric edge alignment.  ... 
doi:10.1109/cvpr42600.2020.00498 dblp:conf/cvpr/FontanCT20 fatcat:jyfa2vobwff5jk6wxq53ghegsa

Exploiting Structural Regularities and Beyond: Vision-based Localization and Mapping in Man-Made Environments [article]

Yi Zhou, University, The Australian National, University, The Australian National
Image-based estimation of camera motion, known as visual odometry (VO), plays a very important role in many robotic applications such as control and navigation of unmanned mobile robots, especially when  ...  — one of the key problems in the event-based VO/SLAM.  ...  Kneip, "Canny-VO: Visual Odometry with RGB-D Cameras based on Geometric 3D-2D Edge Alignment," accepted by IEEE T-RO (published as Early Access by far). -Zhou et al. [2018a] Y.Zhou, G. Gallego, H.  ... 
doi:10.25911/5c4834e66bce8 fatcat:w25bfinedfdnpj3yi2t2f7by2q