2D-3D synchronous/asynchronous camera fusion for visual odometry

Danda Pani Paudel

doi:10.1007/s10514-018-9698-5

2D-3D synchronous/asynchronous camera fusion for visual odometry

2018-02-01

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DOI：10.1007/s10514-018-9698-5

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We propose a robust and direct 2D-3D registration method for camera synchronization. Once the cameras are synchronizedor for synchronous setupswe also propose a visual odometry framework that benefits from both 2D and 3D acquisitions. Our method does not require a precise set of 2D-to-3D correspondences, handles occlusions and works when the scene is only partially known. It is carried out through a 2D-3D based initial motion estimation followed by a constrained nonlinear optimization for motion refinement. The problems of occlusion and that of missing scene parts are handled by comparing the image-based reconstruction and 3D sensor measurements. The results of our experiments demonstrate that the proposed framework allows to obtain a good initial motion estimate and a significant improvement through refinement.

Keyword:

Asynchronous cameras

2D-3D registration

Structure-from-Motion

Visual Odometry

2D-3D synchronous/asynchronous camera fusion for visual odometry

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