Inertial Aided Dense & Semi-Dense Methods For Robust Direct Visual Odometry
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)(2016)
摘要
In this paper we give an evaluation of different direct methods for computing frame-to-frame motion estimates of a moving sensor rig composed of an RGB-D camera and an inertial measurement unit. In particular, we compare how semi-dense and fully dense tracking methods, with and without the aid of an inertial measurement unit (IMU), perform with respect to changes in image resolution, shutter speed, frame rates, as well as image and depth noise. To perform an accurate and unbiased evaluation we employ a series of synthetically generated datasets using a simulated sensor rig composed of an RGB-D camera and an IMU. Our findings show that in the absence of motion blur or for cameras with high enough frame-rates relative to the camera motion, the methods are comparable when taking in consideration both accuracy and computation time.
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关键词
inertial aided semidense method,robust direct visual odometry,frame-to-frame motion estimation,moving sensor rig,RGB-D camera,inertial measurement unit,semidense tracking method,fully-dense tracking method,IMU,image resolution,shutter speed,frame-rates,image noise,depth noise,synthetically generated datasets
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