Spatiotemporal visual odometry using ground plane in dynamic indoor environment
Spatiotemporal visual odometry using ground plane in dynamic indoor environment
复制标题
动态室内环境中使用地平面的时空视觉里程计
DOI：
10.1016/j.ijleo.2020.165165
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发表时间：
2020-06
期刊：
影响因子：
3.1
通讯作者：
Jianrong Tan
中科院分区：
文献类型：
--
作者：
Zaixing He;Qinfeng Yang;Xinyue Zhao;Shuyou Zhang;Jianrong Tan
The performances of traditional visual odometry algorithms may degenerate when a scene contains dynamic objects. In this paper, we propose a novel spatiotemporal visual odometry for dynamic indoor environments by using RGB-D cameras. First, to improve the data association, the complete ground plane is detected and used in the optimization function of coarse pose estimation. Then, the spatial information and temporal information are fused by an undirected network to improve the segmentation of the moving objects. Last, the pose is computed accurately via a coarse-to-fine strategy. Experimental results that demonstrate the performance of the proposed method are presented, and the factors that affect the measurement accuracy are analyzed.
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影响因子：
16.4
作者：
M. Rana;Li Li-Li;S. Su
通讯作者：
M. Rana;Li Li-Li;S. Su
DOI：
10.1109/robot.2006.1642332
发表时间：
2006-05
期刊：
Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.
影响因子：
--
作者：
Jin Zhou;Baoxin Li
通讯作者：
Jin Zhou;Baoxin Li
DOI：
10.1109/iros.2010.5653055
发表时间：
2010-12
期刊：
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
影响因子：
--
作者：
Chia-How Lin;Sin-Yi Jiang;Yueh-Ju Pu;K. Song
通讯作者：
Chia-How Lin;Sin-Yi Jiang;Yueh-Ju Pu;K. Song
DOI：
10.3390/s150819302
发表时间：
2015-08-06
期刊：
Sensors (Basel, Switzerland)
影响因子：
--
作者：
Valenti RG;Dryanovski I;Xiao J
通讯作者：
Xiao J
DOI：
10.1109/sai.2016.7556009
发表时间：
2016-07
期刊：
2016 SAI Computing Conference (SAI)
影响因子：
--
作者：
Ramy A. Zeineldin;N. El-Fishawy
通讯作者：
Ramy A. Zeineldin;N. El-Fishawy