Fully Scaled Monocular Direct Sparse Odometry with A Distance Constraint

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Abstract

Existing methods for solving the inherent scale-ambiguity of monocular visual odometry adopt two main techniques: using an inertial measurement unit and multiple cameras. The distance between poses, which can be obtained from GPS navigation, wheel encoders, and some types of odometry, can also restore the scale of motion. In this work, we propose a fully scaled monocular direct sparse odometry, using the distance between image frames as a constraint to maintain a trajectory and create a map at a suitable scale based on direct sparse odometry. First, the modulus of the translation vector of the current frame, related to the reference keyframe, is corrected in the tracking unit. Additionally, a distance error term is proposed and adapted into the optimization as a further constraint between keyframes. We evaluate our method on the challenging European Robotics Challenge (EuRoC) dataset; our method shows advantages in accuracy compared with the state-of-the-art OKVIS method.

Original languageEnglish
Title of host publication2019 5th International Conference on Control, Automation and Robotics, ICCAR 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages271-275
Number of pages5
ISBN (Electronic)9781728133263
DOIs
Publication statusPublished - Apr 2019
Event5th International Conference on Control, Automation and Robotics, ICCAR 2019 - Beijing, China
Duration: 19 Apr 201922 Apr 2019

Publication series

Name2019 5th International Conference on Control, Automation and Robotics, ICCAR 2019

Conference

Conference5th International Conference on Control, Automation and Robotics, ICCAR 2019
Country/TerritoryChina
CityBeijing
Period19/04/1922/04/19

Keywords

  • distance constraint
  • monocular
  • scale of motion
  • visual odometry

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Cite this

Sun, J., Wang, Y., & Shen, Y. (2019). Fully Scaled Monocular Direct Sparse Odometry with A Distance Constraint. In 2019 5th International Conference on Control, Automation and Robotics, ICCAR 2019 (pp. 271-275). Article 8813371 (2019 5th International Conference on Control, Automation and Robotics, ICCAR 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCAR.2019.8813371