Global-map-registered local visual odometry using on-the-fly pose graph updates

Masahiro Yamaguchi, Shohei Mori, Hideo Saito, Shoji Yachida, Takashi Shibata

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Real-time camera pose estimation is one of the indispensable technologies for Augmented Reality (AR). While a large body of work in Visual Odometry (VO) has been proposed for AR, practical challenges such as scale ambiguities and accumulative errors still remain especially when we apply VO to large-scale scenes due to limited hardware and resources. We propose a camera pose registration method, where a local VO is consecutively optimized with respect to a large-scale scene map on the fly. This framework enables the scale estimation between a VO map and a scene map and reduces accumulative errors by finding corresponding locations in the map to the current frame and by on-the-fly pose graph optimization. The results using public datasets demonstrated that our approach reduces the accumulative errors of naïve VO.

Original languageEnglish
Title of host publicationAugmented Reality, Virtual Reality, and Computer Graphics - 7th International Conference, AVR 2020, Proceedings
EditorsLucio Tommaso De Paolis, Patrick Bourdot
PublisherSpringer Science and Business Media Deutschland GmbH
Pages299-311
Number of pages13
ISBN (Print)9783030584641
DOIs
Publication statusPublished - 2020
Event7th International Conference on Augmented Reality, Virtual Reality, and Computer Graphics, AVR 2020 - Lecce, Italy
Duration: 2020 Sep 72020 Sep 10

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume12242 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference7th International Conference on Augmented Reality, Virtual Reality, and Computer Graphics, AVR 2020
CountryItaly
CityLecce
Period20/9/720/9/10

Keywords

  • Graph optimization
  • Location-based AR
  • Structure from motion
  • Visual Odometry

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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