Scale-awareness of light field camera based visual odometry

Niclas Zeller, Franz Quint, Uwe Stilla

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

We propose a novel direct visual odometry algorithm for micro-lens-array-based light field cameras. The algorithm calculates a detailed, semi-dense 3D point cloud of its environment. This is achieved by establishing probabilistic depth hypotheses based on stereo observations between the micro images of different recordings. Tracking is performed in a coarse-to-fine process, working directly on the recorded raw images. The tracking accounts for changing lighting conditions and utilizes a linear motion model to be more robust. A novel scale optimization framework is proposed. It estimates the scene scale, on the basis of keyframes, and optimizes the scale of the entire trajectory by filtering over multiple estimates. The method is tested based on a versatile dataset consisting of challenging indoor and outdoor sequences and is compared to state-of-the-art monocular and stereo approaches. The algorithm shows the ability to recover the absolute scale of the scene and significantly outperforms state-of-the-art monocular algorithms with respect to scale drifts.

Original languageEnglish
Title of host publicationComputer Vision – ECCV 2018 - 15th European Conference, 2018, Proceedings
EditorsVittorio Ferrari, Cristian Sminchisescu, Yair Weiss, Martial Hebert
PublisherSpringer Verlag
Pages732-747
Number of pages16
ISBN (Print)9783030012366
DOIs
StatePublished - 2018
Event15th European Conference on Computer Vision, ECCV 2018 - Munich, Germany
Duration: 8 Sep 201814 Sep 2018

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume11212 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference15th European Conference on Computer Vision, ECCV 2018
Country/TerritoryGermany
CityMunich
Period8/09/1814/09/18

Keywords

  • Light field
  • Plenoptic camera
  • SLAM
  • Visual odometry

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