This paper proposes a novel approach for extending monocular visual odometry to a stereo camera system. The proposed method uses an additional camera to accurately estimate and optimize the scale of the monocular visual odometry, rather than triangulating 3D points from stereo matching. Specifically, the 3D points generated by the monocular visual odometry are projected onto the other camera of the stereo pair, and the scale is recovered and optimized by directly minimizing the photometric error. It is computationally efficient, adding minimal overhead to the stereo vision system compared to straightforward stereo matching, and is robust to repetitive texture. Additionally, direct scale optimization enables stereo visual odometry to be purely based on the direct method. Extensive evaluation on public datasets (e.g., KITTI), and outdoor environments (both terrestrial and underwater) demonstrates the accuracy and efficiency of a stereo visual odometry approach extended by scale optimization, and its robustness in environments with challenging textures.
翻译:本文提出了将单视视像计量法扩展至立体摄影系统的新颖方法。 提议的方法使用额外的相机来准确估计和优化单视视像计量法的规模,而不是从立体匹配中三角三维点。 具体地说,单视视像计量法产生的三维点被投射到立体对立体的另一相机上,并且通过直接尽量减少光度误差来恢复和优化比例。 它具有计算效率,在立体视觉系统中增加最低的间接费用,而不是简单的立体对立体匹配,并且对重复的纹理非常有力。 此外, 直接比例优化使立体视觉计量法能够完全基于直接方法。 对公共数据集(如KITTI)和户外环境(包括陆地和水下环境)的广泛评价显示了通过比例优化扩展扩展的立体视觉计量法方法的准确性和效率,及其在具有挑战性质素的环境中的稳健性。