Visual odometry with three-stage local binocular BA

Zhao Tong; Liu Jieyu; Li Zhuo

doi:10.12086/oee.2018.180244

[1] Sibley G. Relative bundle adjustment[R]. Department of Engineering Science, Oxford University Technical Report. Oxford: Department of Engineering Science, Oxford University, 2009.

[2] Klein G, Murray D. Parallel tracking and mapping for small AR workspaces[C]//Proceedings of the 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, 2007: 225–234.

[3] Strasdat H, Davison A J, Montiel J M M, et al. Double window optimisation for constant time visual SLAM[C]//2011 International Conference on Computer Vision, 2011: 2352–2359.

[4] Kümmerle R, Grisetti G, Strasdat H, et al. G2O: A general framework for graph optimization[C]//2011 IEEE International Conference on Robotics and Automation, 2011: 3607–3613.

[5] Galvez-López D, Tardos J D. Bags of binary words for fast place recognition in image sequences[J]. IEEE Transactions on Robotics, 2012, 28(5): 1188–1197.

[6] Bellavia F, Fanfani M, Pazzaglia F, et al. Robust selective stereo SLAM without loop closure and bundle adjustment[ C]//Proceedings of the 17th International Conference on Image Analysis and Processing, 2013, 8156: 462–471.

[7] Badino H, Yamamoto A, Kanade T. Visual odometry by multi- frame feature integration[C]//Proceedings of 2013 IEEE International Conference on Computer Vision Workshops, 2013: 222–229.

[8] Cvi i I, Petrovi I. Stereo odometry based on careful feature selection and tracking[C]//European Conference on Mobile Robots. IEEE, 2015:1–6.

[9] Xu Y X, Chen F. Real-time stereo visual localization based on multi-frame sequence motion estimation[J]. Opto-Electronic Engineering, 2016, 43(2): 89–94.

[10] Luo Y Y, Liu H L. Research on binocular visio

n odometer based on bundle adjustment method[J]. Control and Decision, 2016, 31(11): 1936–1944.

[11] Lu W, Xiang Z Y, Liu J L. High-performance visual odometry with two-stage local binocular BA and GPU[C]//2013 IEEE Intelligent Vehicles Symposium (IV), 2013: 23–26.

[12] Mur-Artal R, Tardós J D. ORB-SLAM2: an open-source SLAM system for monocular, stereo, and RGB-D cameras[J]. IEEE Transactions on Robotics, 2016, 33(5): 1255–1262.

[13] Hou R B, Wei W, Huang T, et al. Indoor robot localization and 3D dense mapping based on ORB-SLAM[J]. Computer Applications, 2017, 37(5): 1439–1444.

[14] Zhou S L, Wu X Z, Liu G, et al. Integrated navigation method of monocular ORB-SLAM/INS[J]. Journal of Chinese Inertial Technology, 2016, 24(5): 633–637.

[15] Lourakis M I A, Argyros A A. SBA: a software package for generic sparse bundle adjustment[J]. ACM Transactions on Mathematical Software (TOMS), 2009, 36(1): 2.

[16] Li Z, Liu J Y, Li H, et al. Feature detection and description algorithm based on ORB-LATCH[J]. Journal of Computer Applications, 2017, 37(6): 1759–1762, 1781.

[17] Fan J J, Liang H W, Zhu H, et al. Closed quadrilateral feature tracking algorithm based on binocular vision[J]. Robot, 2015, 37(6): 674–682.

[18] Lu W. Research on key techniques of high-precision and real-time visual localization[D]. Hangzhou: Zhejiang University, 2015.

[19] Geiger A, Lenz P, Stiller C, et al. Vision meets robotics: the KITTI dataset[J]. The International Journal of Robotics Research, 2013, 32(11): 1231–1237.