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- Title
A Monocular Visual Odometry Method Based on Virtual-Real Hybrid Map in Low-Texture Outdoor Environment.
- Authors
Xie, Xiuchuan; Yang, Tao; Ning, Yajia; Zhang, Fangbing; Zhang, Yanning; Myung, Hyun
- Abstract
With the extensive application of robots, such as unmanned aerial vehicle (UAV) in exploring unknown environments, visual odometry (VO) algorithms have played an increasingly important role. The environments are diverse, not always textured, or low-textured with insufficient features, making them challenging for mainstream VO. However, for low-texture environment, due to the structural characteristics of man-made scene, the lines are usually abundant. In this paper, we propose a virtual-real hybrid map based monocular visual odometry algorithm. The core idea is that we reprocess line segment features to generate the virtual intersection matching points, which can be used to build the virtual map. Introducing virtual map can improve the stability of the visual odometry algorithm in low-texture environment. Specifically, we first combine unparallel matched line segments to generate virtual intersection matching points, then, based on the virtual intersection matching points, we triangulate to get a virtual map, combined with the real map built upon the ordinary point features to form a virtual-real hybrid 3D map. Finally, using the hybrid map, the continuous camera pose estimation can be solved. Extensive experimental results have demonstrated the robustness and effectiveness of the proposed method in various low-texture scenes.
- Subjects
POSE estimation (Computer vision); ROAD interchanges &; intersections; MONOCULARS; DRONE aircraft; VISUAL odometry
- Publication
Sensors (14248220), 2021, Vol 21, Issue 10, p3394
- ISSN
1424-8220
- Publication type
Article
- DOI
10.3390/s21103394