Visual Odometry - Georgia Institute of Technologyafb/classes/CS7495-Fall2014/presentations/CV... ·...
Transcript of Visual Odometry - Georgia Institute of Technologyafb/classes/CS7495-Fall2014/presentations/CV... ·...
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Visual Odometry
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• Papers :•Points and Plane SLAM •LSD•SVO
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•Features to use .•Semantics to exploit .•Depth Filtering•Optimization
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SVO
•Semi Dense Visual Odometry
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•Sparse feature based model alignment, no feature matching.
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•Depth using Bayesian filtering.
•Bayesian Update Step:
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•Implementation Details:
•USP:•Fast and Real-time on a CPU. •Can handle arbitary motion.•Challenges :•Would not work in areas with varying depths
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LSD
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•Details about method•Dense tracking by whole image alignment.•Semi-dense by reduction based on image information.•Probabilistic depth map representation.•Incorporation of stereo measurement uncertainty.
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•Semi dense map.
•Semi dense map using depth at image gradients
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•Geometric Error:
•Photometric Disparity Error:
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•Dense Tracking:
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•Implementation Details:
•USP: Fast, Real-time on CPU •Works in all environments. •Challenges: Depth filtering.
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Plane and Points SLAM
•Use semantics like Planes to localize.•Points and planes are duals.
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•Method :
•Bundle adjustment with points and planes.
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•Implementation details
•USP:•Fast and Map reduction.•Accurate and semantically meaning full maps.•Challenges:•Plane detection and segmentation.
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•Results
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