Methods, systems, and computer readable media for visual odometry using rigid structures identified by antipodal transform

摘要

The subject matter described herein includes methods for visual odometry using rigid structures identified by an antipodal transform. One exemplary method includes receiving a sequence of images captured by a camera. The method further includes identifying rigid structures in the images using an antipodal transform. The method further includes identifying correspondence between rigid structures in different image frames. The method further includes estimating motion of the camera based on motion of corresponding rigid structures among the different image frames.

主权项

1. A method for visual odometry using rigid structures identified by an antipodal transform, the method comprising:
receiving a sequence of images captured by a camera; identifying rigid structures in the images using an antipodal transform; identifying correspondence between rigid structures in different image frames; and estimating a path of motion of the camera based on motion of corresponding rigid structures among the different image frames; wherein identifying rigid structures using the antipodal transform includes:
generating a binary occupancy matrix for pixels in an image frame, wherein each element in the occupancy matrix indicates whether the pixel includes point on a structure or not;linearizing the matrix;marking occupied elements in the matrix as having a score that is different from unoccupied elements; andfor each unoccupied element in the matrix, determining a distance in each of a plurality of directions to the nearest occupied element, computing a score for each distance, and summing the scores for each distance, and identifying the rigid structures using the scores.