Fast Keyframe Selection and Switching for ICP-based Camera Pose Estimation

Chun Wei Chen, Wen Yuan Hsiao, Ting Yu Lin, Jonas Wang, Ming Der Shieh

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Simultaneous localization and mapping algorithms are important for high-quality registration used in augmented reality applications. Keyframe based SLAM can effectively reduce local drift by aligning a frame to the corresponding keyframe; however, it still suffers from losing trace for frames far from the keyframe. This work presents a fast keyframe selection and switching algorithm to replace unsuitable keyframes with qualified backup frames. The overhead of using backup process is greatly reduced by only inspecting the inlier information produced at the first iteration of iterative closest point (ICP) algorithm. Moreover, several useful criteria considering spatial and/or temporal relationships are also presented to evaluate the quality of keyframes and backup frames. Experimental results show that about 11.37% of relative pose error and 16.79% of the I CP iterations can be reduced by applying the proposed schemes as compared to the traditional keyframe-based approach. The reduction in computational time is achieved by speeding up the convergence of ICP, which is an additional benefit from applying the proposed schemes.

Original languageEnglish
Title of host publication2018 IEEE International Symposium on Circuits and Systems, ISCAS 2018 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538648810
DOIs
Publication statusPublished - 2018 Apr 26
Event2018 IEEE International Symposium on Circuits and Systems, ISCAS 2018 - Florence, Italy
Duration: 2018 May 272018 May 30

Publication series

NameProceedings - IEEE International Symposium on Circuits and Systems
Volume2018-May
ISSN (Print)0271-4310

Other

Other2018 IEEE International Symposium on Circuits and Systems, ISCAS 2018
CountryItaly
CityFlorence
Period18-05-2718-05-30

Fingerprint

Cameras
Augmented reality

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

Cite this

Chen, C. W., Hsiao, W. Y., Lin, T. Y., Wang, J., & Shieh, M. D. (2018). Fast Keyframe Selection and Switching for ICP-based Camera Pose Estimation. In 2018 IEEE International Symposium on Circuits and Systems, ISCAS 2018 - Proceedings [8351436] (Proceedings - IEEE International Symposium on Circuits and Systems; Vol. 2018-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISCAS.2018.8351436
Chen, Chun Wei ; Hsiao, Wen Yuan ; Lin, Ting Yu ; Wang, Jonas ; Shieh, Ming Der. / Fast Keyframe Selection and Switching for ICP-based Camera Pose Estimation. 2018 IEEE International Symposium on Circuits and Systems, ISCAS 2018 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2018. (Proceedings - IEEE International Symposium on Circuits and Systems).
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Chen, CW, Hsiao, WY, Lin, TY, Wang, J & Shieh, MD 2018, Fast Keyframe Selection and Switching for ICP-based Camera Pose Estimation. in 2018 IEEE International Symposium on Circuits and Systems, ISCAS 2018 - Proceedings., 8351436, Proceedings - IEEE International Symposium on Circuits and Systems, vol. 2018-May, Institute of Electrical and Electronics Engineers Inc., 2018 IEEE International Symposium on Circuits and Systems, ISCAS 2018, Florence, Italy, 18-05-27. https://doi.org/10.1109/ISCAS.2018.8351436

Fast Keyframe Selection and Switching for ICP-based Camera Pose Estimation. / Chen, Chun Wei; Hsiao, Wen Yuan; Lin, Ting Yu; Wang, Jonas; Shieh, Ming Der.

2018 IEEE International Symposium on Circuits and Systems, ISCAS 2018 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2018. 8351436 (Proceedings - IEEE International Symposium on Circuits and Systems; Vol. 2018-May).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Chen CW, Hsiao WY, Lin TY, Wang J, Shieh MD. Fast Keyframe Selection and Switching for ICP-based Camera Pose Estimation. In 2018 IEEE International Symposium on Circuits and Systems, ISCAS 2018 - Proceedings. Institute of Electrical and Electronics Engineers Inc. 2018. 8351436. (Proceedings - IEEE International Symposium on Circuits and Systems). https://doi.org/10.1109/ISCAS.2018.8351436