Egomotion using assorted features

Vivek Pradeep, Jongwoo Lim
2010 2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition  
We describe a novel and robust minimal solver for performing online visual odometry with a stereo rig. The proposed method can compute the underlying camera motion given any arbitrary, mixed combination of point and line correspondences across two stereo views. This facilitates a hybrid visual odometry pipeline that is enhanced by welllocalized and reliably-tracked line features while retaining the well-known advantages of point features. Utilizing trifocal tensor geometry and quaternion
more » ... ntation of rotation matrices, we develop a polynomial system from which camera motion parameters can be robustly extracted in the presence of noise. We show how the more popular approach of using direct linear/subspace techniques fail in this regard and demonstrate improved performance using our formulation with extensive experiments and comparisons against the 3-point and line-sfm algorithms.
doi:10.1109/cvpr.2010.5539792 dblp:conf/cvpr/PradeepL10 fatcat:h44bt7vlergxhk3vw77htxewre