Improved visual odometry method for matching 3D point cloud data

Author

Liang Zhiwei ; Xu Xiaogen

Author_Institution

Coll. of Autom., Nanjing Univ. of Posts & Telecommun., Nanjing, China

fYear

2014

fDate

28-30 July 2014

Firstpage

8474

Lastpage

8478

Abstract

Aiming at the problem of 3D map data association, this paper proposes a method based on improved visual odometry algorithm. Three-dimensional model of visual information is associated with six degrees of freedom of visual odometry to represent the transformation matrix. Using lie algebra coordinates of rigid body motion and maximizing photo consistency, the registration results are evaluated by linearization of the energy equation. This algorithm can improve the success rate of data fusion so that the 3D map can be built continuously and effectively in real time.

Keywords

Lie algebras; image fusion; image matching; image registration; matrix algebra; robot vision; 3D map data association; 3D point cloud data matching; data fusion; energy equation linearization; photo consistency maximization; registration; rigid body motion Lie algebra coordinates; robot vision; transformation matrix; visual information three-dimensional model; visual odometry method; visual odometry six degrees of freedom; Cameras; Equations; Mathematical model; Robot sensing systems; Three-dimensional displays; Visualization; Data association; Loop closure detection; Natural characteristic; Visual odometry;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2014 33rd Chinese

Conference_Location

Nanjing

Type

conf

DOI

10.1109/ChiCC.2014.6896422

Filename

6896422