This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.

Search for Publication

Year(s) from:  to 
Keywords (separated by spaces):

2D–3D synchronous/asynchronous camera fusion for visual odometry

Danda Pani Paudel, Cédric Demonceaux, Adlane Habed, Pascal Vasseur
Autonomous Robots
2018, in press


We propose a robust and direct 2D–3D registration method for camera synchronization. Once the cameras are synchronized— 1 or for synchronous setups—we also propose a visual odometry framework that benefits from both 2D and 3D acquisitions. Our method does not require a precise set of 2D-to-3D correspondences, handles occlusions and works when the scene is only partially known. It is carried out through a 2D–3D based initial motion estimation followed by a constrained nonlinear 2 optimization for motion refinement. The problems of occlusion and that of missing scene parts are handled by comparing the image-based reconstruction and 3D sensor measurements. The results of our experiments demonstrate that the proposed 3 framework allows to obtain a good initial motion estimate and a significant improvement through refinement.

Download in pdf format
  author = {Danda Pani Paudel and Cédric Demonceaux and Adlane Habed and Pascal Vasseur},
  title = {2D–3D synchronous/asynchronous camera fusion for visual odometry},
  journal = {Autonomous Robots},
  year = {2018},
  month = {},
  pages = {},
  volume = {},
  number = {},
  keywords = {},
  note = {in press}