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Semi-independent Stereo Visual Odometry for Different Field of View Cameras

Abstract : This paper presents a pipeline for stereo visual odometry using cameras with different fields of view. It gives a proof of concept about how a constraint on the respective field of view of each camera can lead to both an accurate 3D reconstruction and a robust pose estimation. Indeed, when considering a fixed resolution, a narrow field of view has a higher angular resolution and can preserve image texture details. On the other hand, a wide field of view allows to track features over longer periods since the overlap between two successive frames is more substantial. We propose a semi-independent stereo system where each camera performs individually temporal multi-view optimization but their initial parameters are still jointly optimized in an iterative framework. Furthermore , the concept of lead and follow camera is introduced to adaptively propagate information between the cameras. We evaluate the method qualitatively on two indoor datasets, and quantitatively on a synthetic dataset to allow the comparison across different fields of view.
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Submitted on : Monday, November 5, 2018 - 5:22:39 PM
Last modification on : Saturday, January 15, 2022 - 3:57:26 AM
Long-term archiving on: : Wednesday, February 6, 2019 - 3:54:36 PM


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  • HAL Id : hal-01912878, version 1


Trong Phuc Truong, Vincent Nozick, Hideo Saito. Semi-independent Stereo Visual Odometry for Different Field of View Cameras. 3D Reconstruction in the Wild (3DRW2018), Sep 2018, Munich, Germany. ⟨hal-01912878⟩



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