一种双目直接法视觉里程计

视觉里程计是机器人确定自身在周围环境中位置的关键技术,具有测量漂移小、精确的特点,适合较长时间的自主定位。提出一种使用双目相机的直接法视觉里程计,使用双目影像对与时序影像对之间的光度误差联合优化关键帧的位置与姿态、相机内参数、地图点坐标,并在车载道路基准数据集KITTI上进行测试,获得了良好的效果。

A Direct Stereo Visual Odometry

Visual odometry is the key technology for robots to localizing themselves in surrounding room.It is low-drift and precise,suitable for long-time self-localization.We proposed a direct visual odometry method based on stereo camera,combining static stereo photometric errors and temporal multi-view stereo photometric errors to jointly optimize keyframes’poses and positions,camera intrinsic parameters and map points’coordinates.We tested the method on KITTI(The Karlsruhe Institute of Technology and Toyota Technological Institute at Chicago)Vision Benchmark Suite and got agood result.