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

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

Abstract

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.


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@Article{eth_biwi_01425,
  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}
}