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Dense, Auto-Calibrating Visual Odometry from a Downward-Looking Camera

Published on Apr 03, 20142340 Views

We present a technique whereby a single camera can be used as a high precision visual odometry sensor in a range of practical settings using simple, computationally efficient techniques. Taking adva

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Chapter list

Dense, Auto-Calibrating Visual Odometry from a Downward-Looking Camera00:00
Why yet another Visual Odometry system?00:09
Visual Odometry using Dense Planar Alignment01:11
Dense, Auto-Calibrating VO for a Small Indoor Robot01:56
Plane-induced Homography - 102:58
Plane-induced Homography - 203:42
Plane-induced Homography - 303:44
Robot Camera Geometry - 103:47
Robot Camera Geometry - 204:00
Parametric warp04:42
Cost function - 105:04
Cost function - 205:19
Cost function - 305:22
Cost function - 405:25
Cost function - 505:31
Cost function - 605:34
Cost function - 705:37
Cost function - 805:37
Cost function - 905:38
Cost function - 1005:47
Minimisation06:35
Dense visual odometry07:25
Extrinsic calibration: what is the pose of the camera relative to the robot?09:18
Roll angle α - 109:50
Roll angle α - 210:13
Roll angle α - 310:14
Roll angle α - 410:15
Roll angle α - 510:22
Roll angle α - 610:23
Roll angle β - 110:24
Roll angle β - 210:24
Roll angle β - 310:25
Roll angle β - 410:25
Roll angle β - 510:25
Roll angle β - 610:26
Roll angle γ - 110:26
Roll angle γ - 210:27
Roll angle γ - 310:27
Roll angle γ - 410:28
Roll angle γ - 510:29
Roll angle γ - 610:30
Roll angle γ - 710:32
Plane calibration10:34
Calibration of the remaining degrees of freedom - 111:18
Calibration of the remaining degrees of freedom - 212:00
Experiments - 113:23
Experiments - 213:56
System performance - 215:40
High precision motion estimation - 116:01
High precision motion estimation - 216:28
Conclusions16:34
Thank you for your attention.17:50
System performance - 118:26