Straight-Line Constrained Optical Flow Monocular Visual Odometry

摘要：

　　A monocular visual odometry using straight-line constrained optical flow was proposed to estimate the robotic ego-motion.The straight-line constrained optical flow was defined by decomposing the motion of a line segment in image plane into a rotation and two directional translations.The parameters of optical flow are similar to robot motion,so we can estimate the motion by combining the camera model separately.The estimation of straight line constraint optical flow is much faster than traditional optical flow methods and avoids resolving a nonlinear problem.Experimental results validated the efficiency of our method.

关键词： optical flow monocular odometry robot

作者: Yingkui Du Cheng Liu Yan Chen Dan Tian Xiaowei Han Zhonghu Yuan

作者单位: Key Lab of Equipment Manufacturing Comprehensive Automation,School of Information Engineering Shenyang University Shenyang,China

会议类型: 国际会议

会议名称: 2017 IEEE 2nd Advanced Information Technology,Electronic and Automation Control Conference(IAEAC 2017)(2017 IEEE 第2届先进信息技术、电子与自动化控制国际会议)

会议地点: 重庆

会议语种:英文

页码: 668-672

在线出版日期: 2017-03-25（万方平台首次上网日期，不代表论文的发表时间）