Access the full text.
Sign up today, get DeepDyve free for 14 days.
Loading next page...
/lp/emerald-publishing/an-improved-binocular-visual-odometry-algorithm-based-on-the-random-lJkpT0ytmS
References (25)
-
T. Ciarfuglia, G. Costante, P. Valigi, E. Ricci (2014)
Evaluation of non-geometric methods for visual odometryRobotics Auton. Syst., 62
-
Yanhua Jiang, Guang-ming Xiong, Huiyan Chen, Dah-Jye Lee (2014)
Incorporating a Wheeled Vehicle Model in a New Monocular Visual Odometry Algorithm for Dynamic Outdoor EnvironmentsSensors (Basel, Switzerland), 14
-
T. Nakada, T. Ohkubo, Kazuyuki Kobayashi, Kajiro Watanabe, Y. Kurihara (2010)
A study of visual odometry for mobile robots using omnidirectional cameraProceedings of SICE Annual Conference 2010
-
Andreas Geiger, Philip Lenz, C. Stiller, R. Urtasun (2013)
Vision meets robotics: The KITTI datasetThe International Journal of Robotics Research, 32
-
D. Lowe (2004)
Distinctive Image Features from Scale-Invariant KeypointsInternational Journal of Computer Vision, 60
-
Yenewondim Biadgie, Kyung-ah Sohn (2014)
Feature Detector Using Adaptive Accelerated Segment Test2014 International Conference on Information Science & Applications (ICISA)
-
Xiangqian Wu, Qiushi Zhao, Wei Bu (2014)
A SIFT-based contactless palmprint verification approach using iterative RANSAC and local palmprint descriptorsPattern Recognit., 47
-
Jichao Jiao, Baojun Zhao, Shasha Wu (2011)
A speed-up and robust image registration algorithm based on FAST2011 IEEE International Conference on Computer Science and Automation Engineering, 4
-
Zhaoxia Liu, Yaxuan Wang, Yu Jing, O. Lou (2014)
A Robust Feature Point Matching Method for Dynamic Aerial Image Registration2014 Sixth International Symposium on Parallel Architectures, Algorithms and Programming
-
F. Schweiger, Georg Schroth, Robert Huitl, Y. Latif, E. Steinbach (2013)
Speeded-up SURF: Design of an efficient multiscale feature detector2013 IEEE International Conference on Image Processing
-
Ethan Rublee, V. Rabaud, K. Konolige, G. Bradski (2011)
ORB: An efficient alternative to SIFT or SURF2011 International Conference on Computer Vision
-
Michael Calonder, V. Lepetit, C. Strecha, P. Fua (2010)
BRIEF: Binary Robust Independent Elementary Features -
E. Rosten, R. Porter, T. Drummond (2008)
Faster and Better: A Machine Learning Approach to Corner DetectionIEEE Transactions on Pattern Analysis and Machine Intelligence, 32
-
J. Siddiqui, S. Khatibi (2015)
Robust visual odometry estimation of road vehicle from dominant surfaces for large-scale mappingIet Intelligent Transport Systems, 9
-
W. Lu, Z. Xiang, Jilin Liu (2015)
Design of an enhanced visual odometry by building and matching compressive panoramic landmarks onlineFrontiers of Information Technology & Electronic Engineering, 16
-
Xu Jing, Chunhua Li, Xuyue Yin, X. Fan (2013)
Calibration and stereo image correction for binocular vision system with divergent optical axes arrangement2013 6th International Congress on Image and Signal Processing (CISP), 2
-
J. Fabian, G. Clayton (2014)
Error Analysis for Visual Odometry on Indoor, Wheeled Mobile Robots With 3-D SensorsIEEE/ASME Transactions on Mechatronics, 19
-
Ping Zhou, Xiling Luo (2011)
A robust feature matching algorithm based on CSIFT descriptors2011 IEEE International Conference on Signal Processing, Communications and Computing (ICSPCC)
-
F. Khelifi, Jianmin Jiang (2011)
$K$ -NN Regression to Improve Statistical Feature Extraction for Texture RetrievalIEEE Transactions on Image Processing, 20
-
M. Xu, J. Lu (2012)
Distributed RANSAC for the robust estimation of three-dimensional reconstructionIet Computer Vision, 6
-
S. Rawashdeh, J. Lumpp (2014)
Image-based attitude propagation for small satellites using RANSACIEEE Transactions on Aerospace and Electronic Systems, 50
-
(2008)
Local Invariant Feature Detectors: A Survey -
Wan-Yu Chen, Jia-Lin Chen, Yu-Chi Su, Liang-Gee Chen (2013)
Intelligent document capturing and blending system based on robust feature matching with an active camera2013 IEEE International Conference on Consumer Electronics (ICCE)
-
Dongjin Lee, Youngjoo Kim, H. Bang (2014)
Vision-aided terrain referenced navigation for unmanned aerial vehicles using ground featuresProceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, 228
-
A. Sedaghat, M. Mokhtarzade, H. Ebadi (2011)
Uniform Robust Scale-Invariant Feature Matching for Optical Remote Sensing ImagesIEEE Transactions on Geoscience and Remote Sensing, 49
- Publisher
- Emerald Publishing
- Copyright
- Copyright © Emerald Group Publishing Limited
- ISSN
- 0143-991X
- DOI
- 10.1108/IR-11-2016-0280
- Publisher site
- See Article on Publisher Site
Abstract
PurposeThe purpose of this paper is to propose a binocular visual odometry algorithm based on the Random Sample Consensus (RANSAC) in visual navigation systems.Design/methodology/approachThe authors propose a novel binocular visual odometry algorithm based on features from accelerated segment test (FAST) extractor and an improved matching method based on the RANSAC. Firstly, features are detected by utilizing the FAST extractor. Secondly, the detected features are roughly matched by utilizing the distance ration of the nearest neighbor and the second nearest neighbor. Finally, wrong matched feature pairs are removed by using the RANSAC method to reduce the interference of error matchings.FindingsThe performance of this new algorithm has been examined by an actual experiment data. The results shown that not only the robustness of feature detection and matching can be enhanced but also the positioning error can be significantly reduced by utilizing this novel binocular visual odometry algorithm. The feasibility and effectiveness of the proposed matching method and the improved binocular visual odometry algorithm were also verified in this paper.Practical implicationsThis paper presents an improved binocular visual odometry algorithm which has been tested by real data. This algorithm can be used for outdoor vehicle navigation.Originality/valueA binocular visual odometer algorithm based on FAST extractor and RANSAC methods is proposed to improve the positioning accuracy and robustness. Experiment results have verified the effectiveness of the present visual odometer algorithm.
Journal
Industrial Robot: An International Journal – Emerald Publishing
Published: Jun 19, 2017