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On Scale Initialization in Non-overlapping Multi-perspective Visual Odometry

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Computer Vision Systems (ICVS 2017)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 10528))

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Abstract

Multi-perspective camera systems pointing into all directions represent an increasingly interesting solution for visual localization and mapping. They combine the benefits of omni-directional measurements with a sufficient baseline for producing measurements in metric scale. However, the observability of metric scale suffers from degenerate cases if the cameras do not share any overlap in their field of view. This problem is of particular importance in many relevant practical applications, and it impacts most heavily on the difficulty of bootstrapping the structure-from-motion process. The present paper introduces a complete real-time pipeline for visual odometry with non-overlapping, multi-perspective camera systems, and in particular presents a solution to the scale initialization problem. We evaluate our method on both simulated and real data, thus proving robust initialization capacity as well as best-in-class performance regarding the overall motion estimation accuracy.

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Notes

  1. 1.

    Keyframes are simply frames that are retained in a buffer of frames due to sufficient local distinctiveness [10].

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Authors and Affiliations

  1. Australian National University, Canberra, Australia

    Yifu Wang & Laurent Kneip

Authors
  1. Yifu Wang
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  2. Laurent Kneip
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Corresponding author

Correspondence to Yifu Wang .

Editor information

Editors and Affiliations

  1. Hong Kong University of Science and Technology, Hong Kong, China

    Ming Liu

  2. Harbin Institute of Technology, Shenzhen, China

    Haoyao Chen

  3. Technische Universtiät Wien, Vienna, Austria

    Markus Vincze

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Wang, Y., Kneip, L. (2017). On Scale Initialization in Non-overlapping Multi-perspective Visual Odometry. In: Liu, M., Chen, H., Vincze, M. (eds) Computer Vision Systems. ICVS 2017. Lecture Notes in Computer Science(), vol 10528. Springer, Cham. https://doi.org/10.1007/978-3-319-68345-4_13

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  • DOI: https://doi.org/10.1007/978-3-319-68345-4_13

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-68344-7

  • Online ISBN: 978-3-319-68345-4

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