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	A Novel Hybrid Visual Odometry Using an RGB-D Camera
	Huiguo Wang; Xinyu Wu; Zhiheng Chen; Yong He
	2018
会议日期	2018
会议地点	wuhan
英文摘要	RGB-D cameras provide both a color image and a depth image which contains the real depth information about per-pixel. The richness of their data and the development of lowcost sensors have combined to present an attractive opportunity for mobile robotics research. In this paper, we describe a novel hybrid visual odometry using an RGB-D camera. Different from the original method, it is a pure visual odometry method without any other information, such as inertial data. The important key is hybrid, which means that the odometry can be executed in two different processes depending on the conditions. It consists of two parts, including a feature-based visual odometry and a direct visual odometry. Details about the algorithm are discussed in the paper. Especially, the switch conditions are described in detail. Beside, we evaluate the continuity and robustness for the system on public dataset. The experiments demonstrate that our system has more stable continuity and better robustness.
内容类型	会议论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/13841]
专题	深圳先进技术研究院_集成所
推荐引用方式 GB/T 7714	Huiguo Wang,Xinyu Wu,Zhiheng Chen,et al. A Novel Hybrid Visual Odometry Using an RGB-D Camera[C]. 见:. wuhan. 2018.

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