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

研究成果: Conference contribution

摘要

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.

原文English
主出版物標題2018 IEEE International Symposium on Circuits and Systems, ISCAS 2018 - Proceedings
發行者Institute of Electrical and Electronics Engineers Inc.
ISBN(電子)9781538648810
DOIs
出版狀態Published - 2018 四月 26
事件2018 IEEE International Symposium on Circuits and Systems, ISCAS 2018 - Florence, Italy
持續時間: 2018 五月 272018 五月 30

出版系列

名字Proceedings - IEEE International Symposium on Circuits and Systems
2018-May
ISSN(列印)0271-4310

Other

Other2018 IEEE International Symposium on Circuits and Systems, ISCAS 2018
國家Italy
城市Florence
期間18-05-2718-05-30

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

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    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. 於 2018 IEEE International Symposium on Circuits and Systems, ISCAS 2018 - Proceedings [8351436] (Proceedings - IEEE International Symposium on Circuits and Systems; 卷 2018-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISCAS.2018.8351436