A Fast Visual Odometry and Mapping System for RGB-D Cameras

Bruno M. F. Silva, L. Gonçalves
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引用次数: 5

Abstract

The introduction of low cost range sensing devices such as RGB-D cameras allows applications for Robotics to exploit novel and real-time capabilities. One such application is Visual Odometry, a module responsible to use the synchronized color/depth streams captured by this class of sensors to estimate the position and orientation of a robot at the same time that a map representation of the environment is built. Aiming to localize robots in a fast and efficient way, we design a Visual Odometry system for RGB-D sensors that allows real-time (approximately 25 Hz) camera pose estimation despite the fact that no specialized hardware (such as modern GPUs) is employed. Experiments carried out on publicly available benchmark and datasets demonstrate the usefulness of the method, which achieved localization accuracy superior to the state-of-the-art RGB-D SLAM algorithm.
RGB-D相机的快速视觉里程测量与制图系统
引入低成本的距离传感设备,如RGB-D摄像机,使机器人技术的应用程序能够开发新颖的实时功能。其中一个应用是Visual Odometry,该模块负责使用这类传感器捕获的同步颜色/深度流来估计机器人的位置和方向,同时构建环境的地图表示。为了快速有效地定位机器人,我们为RGB-D传感器设计了一个视觉测距系统,该系统允许实时(约25 Hz)相机姿势估计,尽管没有使用专门的硬件(如现代gpu)。在公开的基准和数据集上进行的实验证明了该方法的有效性,其定位精度优于最先进的RGB-D SLAM算法。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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