Improved Visual Odometry Method for Matching 3D Point Cloud Data
Aiming at the problem of 3D map data association,this paper proposes a method based on improved visual odometry algorithm.Three-dimensional model of visual information is associated with six degrees of freedom of visual odometry to represent the transformation matrix.Using lie algebra coordinates of rigid body motion and maximizing photo consistency,the registration results are evaluated by linearization of the energy equation.This algorithm can improve the success rate of data fusion so that the 3D map can be built continuously and effectively in real time.
Visual odometry Natural characteristic Loop closure detection Data association
LIANG Zhiwei XU Xiaogen
College of Automation,Nanjing University of Posts and Telecommunications,Nanjing,210046
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
8474-8478
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）