3D localization based on visual odometry and landmark recognition using image edge points

This paper presents a method of 3D localization using image edge-points detected from binocular stereo image sequences. The proposed method calculates camera poses using visual odometry, and updates the poses by reducing the accumulated errors using landmark recognition. Landmark recognition is done...

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Bibliographic Details
Main Author: Tomono, M
Format: Conference Proceeding
Language:English
Subjects:
Cameras
Image edge detection
Image sequences
Iterative closest point algorithm
Three dimensional displays
Visualization
Vocabulary
Online Access:Request full text
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Description
Summary:This paper presents a method of 3D localization using image edge-points detected from binocular stereo image sequences. The proposed method calculates camera poses using visual odometry, and updates the poses by reducing the accumulated errors using landmark recognition. Landmark recognition is done based on robust and scalable image-retrieval using image edge-points with SIFT descriptors and a vocabulary tree. A randomized-ICP algorithm is employed to accurately estimate the 6-DOF camera pose from a landmark image and an edge-point based 3D map. Experiments show our edge-point based approach outperforms approaches using corners and Laplacian points.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2010.5649853