.png){kind=icon}
.png){kind=icon}
Return
2D-3D synchronous/asynchronous camera fusion for visual odometry
.png){kind=icon}
OA
AI
DOI：10.1007/s10514-018-9698-5.png)
.png){kind=icon}
.png){kind=icon}
Share.png){kind=icon}
Save
Abstract
En 中文
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.
Keywords:
Asynchronous cameras
2D-3D registration
Structure-from-Motion
Visual Odometry
AI Summary
Key information extracted from the uploaded paper, including a brief overview, abstract, background, key highlights, visual analysis, and future outlook.
Journal
IF:
4.3
Papers:
1.7K
Citations:
5.0K
View more organizations