Motion-Aware Iterative Closest Point Estimation for Fast Visual Odometry

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

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

1 Citation (Scopus)

Abstract

Iterative closest point (ICP) algorithm is a common localization method used to estimate camera poses by aligning two depth frames. Since the input depth map is easily distorted when the camera is in large motion, it might result in incorrect pose estimation and produce apparent drift for ICP-based applications. To alleviate this problem, instead of using the time-consuming graph-based optimization approach for post processing, this work aims at refining poses when detecting noisy depth maps and presents a hybrid decision mechanism to detect noisy depth maps based on the characteristic of ICP. The camera pose of the next frame is decided by referring to the last frame instead of the current frame when a noisy depth map is detected, by doing so, we can prevent the errors produced in the current frame from propagating to the next frame, thus reducing drift. Experimental results show that the relative pose error reduce to 58% in average at the time when large motion happens.

Original languageEnglish
Title of host publicationAdjunct Proceedings of the 2016 IEEE International Symposium on Mixed and Augmented Reality, ISMAR-Adjunct 2016
EditorsEduardo Veas, Raphael Grasset, Tobias Langlotz, Alejandro Martin, Jose Martinez-Carranza, Maki Sugimoto
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages268-269
Number of pages2
ISBN (Electronic)9781509037407
DOIs
Publication statusPublished - 2017 Jan 30
Event15th Adjunct IEEE International Symposium on Mixed and Augmented Reality, ISMAR-Adjunct 2016 - Merida, Yucatan, Mexico
Duration: 2016 Sep 182016 Sep 23

Publication series

NameAdjunct Proceedings of the 2016 IEEE International Symposium on Mixed and Augmented Reality, ISMAR-Adjunct 2016

Other

Other15th Adjunct IEEE International Symposium on Mixed and Augmented Reality, ISMAR-Adjunct 2016
CountryMexico
CityMerida, Yucatan
Period16-09-1816-09-23

All Science Journal Classification (ASJC) codes

  • Computer Science Applications
  • Human-Computer Interaction
  • Media Technology
  • Computer Graphics and Computer-Aided Design

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