Adopting Feature-Based Visual Odometry for Resource-Constrained Mobile Devices

  • Michał Fularz
  • Michał Nowicki
  • Piotr Skrzypczyński
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8815)


In many practical applications of mobile devices self-localization of the user in a GPS-denied indoor environment is required. Among the available approaches the visual odometry concept enables continuous, precise egomotion estimation in previously unknown environments. In this paper we examine the usual pipeline of a monocular visual odometry system, identifying the bottlenecks and demonstrating how to circumvent the resource constrains, to implement a real-time visual odometry system on a smartphone or tablet.


Mobile device Visual odometry Self-localization 


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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Michał Fularz
    • 1
  • Michał Nowicki
    • 1
  • Piotr Skrzypczyński
    • 1
  1. 1.Institute of Control and Information EngineeringPoznań University of TechnologyPoznańPoland

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