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.
Complete list of metadatas

Cited literature [10 references]  Display  Hide  Download

https://hal-upec-upem.archives-ouvertes.fr/hal-01912878
Contributor : Vincent Nozick <>
Submitted on : Monday, November 5, 2018 - 5:22:39 PM
Last modification on : Friday, May 24, 2019 - 4:12:26 PM
Long-term archiving on : Wednesday, February 6, 2019 - 3:54:36 PM

File

W17P09.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-01912878, version 1

Citation

Trong 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⟩

Share

Metrics

Record views

103

Files downloads

262