Visual odometry with high resolution time-of-flight cameras

Yosef Dalbah; Nicolas Dingeldey; Friedrich M. Wahl

doi:10.1117/12.2050903

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24 December 2013 Visual odometry with high resolution time-of-flight cameras

Yosef Dalbah, Nicolas Dingeldey, Friedrich M. Wahl

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Proceedings Volume 9067, Sixth International Conference on Machine Vision (ICMV 2013); 90670T (2013) https://doi.org/10.1117/12.2050903
Event: Sixth International Conference on Machine Vision (ICMV 13), 2013, London, United Kingdom

Abstract

We present a method that estimates the ego motion of a vehicle based on camera data of high resolution (207x204 pixels) Time-of-Flight cameras using visual odometry techniques. Translation and rotation of camera motion in six degrees of freedom are calculated. Point correspondences in consecutive amplitude image pairs are built. By consideration of the depth image of the camera 3D point correspondences are derived from the two dimensional point correspondences. Camera motion between the two images is then computed by registration of the two resulting point clouds. The process is optimized by incorporation of outlier removal and a multi sensor setup. The presented optimizations raise the precision and robustness of the method and enable visual odometry by Time-of-Flight camera data as an alternative to common odometry systems in low speed scenarios.

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Yosef Dalbah, Nicolas Dingeldey, and Friedrich M. Wahl "Visual odometry with high resolution time-of-flight cameras", Proc. SPIE 9067, Sixth International Conference on Machine Vision (ICMV 2013), 90670T (24 December 2013); https://doi.org/10.1117/12.2050903

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