Research on features matching method for visual odometry based on depth image

Guosheng Wang; Feng Guo; Qiang Lv; Jianye Ma

doi:10.1117/12.2208938

3 December 2015 Research on features matching method for visual odometry based on depth image

Guosheng Wang, Feng Guo, Qiang Lv, Jianye Ma

Proceedings Volume 9794, Sixth International Conference on Electronics and Information Engineering; 97941U (2015) https://doi.org/10.1117/12.2208938
Event: Sixth International Conference on Electronics and Information Engineering, 2015, Dalian, China

Abstract

The unmanned aerial vehicle needs an effective visual odometry system intask of indoor. The sparse visual odometry of RGB-D sensor is difficult to extractor enough color image features in darkness environment of indoor, which results in the failure of matching. We present a method that extract 2D features from the depth image directly. The paper discussed the matching performance of ORB, FREAK and SURF descriptor to the depth image. The results of the experiments show that it is feasible extractor 2D features from the depth image to matching in visual odometry, the ORB descriptor is better than other methods suitable for this kind of application.

Citation Download Citation

Guosheng Wang, Feng Guo, Qiang Lv, and Jianye Ma "Research on features matching method for visual odometry based on depth image", Proc. SPIE 9794, Sixth International Conference on Electronics and Information Engineering, 97941U (3 December 2015); https://doi.org/10.1117/12.2208938

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