Scale robust IMU-assisted KLT for stereo visual odometry solution

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dc.contributor.authorChermak, Lounis
dc.contributor.authorAouf, Nabil
dc.contributor.authorRichardson, Mark A.
dc.date.accessioned2016-10-04T14:05:22Z
dc.date.available2016-10-04T14:05:22Z
dc.date.issued2016-08-30
dc.description.abstractWe propose a novel stereo visual IMU-assisted (Inertial Measurement Unit) technique that extends to large inter-frame motion the use of KLT tracker (Kanade–Lucas–Tomasi). The constrained and coherent inter-frame motion acquired from the IMU is applied to detected features through homogenous transform using 3D geometry and stereoscopy properties. This predicts efficiently the projection of the optical flow in subsequent images. Accurate adaptive tracking windows limit tracking areas resulting in a minimum of lost features and also prevent tracking of dynamic objects. This new feature tracking approach is adopted as part of a fast and robust visual odometry algorithm based on double dogleg trust region method. Comparisons with gyro-aided KLT and variants approaches show that our technique is able to maintain minimum loss of features and low computational cost even on image sequences presenting important scale change. Visual odometry solution based on this IMU-assisted KLT gives more accurate result than INS/GPS solution for trajectory generation in certain context.en_UK
dc.identifier.citationL. Chermak, N. Aouf and M. A. Richardson, Scale robust IMU-assisted KLT for stereo visual odometry solution, Robotica, Volume 35, Issue 9, September 2017, pp. 1864-1887en_UK
dc.identifier.cris15220743
dc.identifier.issn0263-5747
dc.identifier.urihttps://doi.org/10.1017/S0263574716000552
dc.identifier.urihttp://dspace.lib.cranfield.ac.uk/handle/1826/10660
dc.language.isoenen_UK
dc.publisherCambridge University Pressen_UK
dc.rightsAttribution-NonCommercial 4.0 International
dc.rights.urihttp://creativecommons.org/licenses/by-nc/4.0/
dc.subjectComputer visionen_UK
dc.subjectNavigationen_UK
dc.subjectIMU-KLT feature trackingen_UK
dc.subjectVisual odometryen_UK
dc.subjectDouble doglegen_UK
dc.titleScale robust IMU-assisted KLT for stereo visual odometry solutionen_UK
dc.typeArticleen_UK

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