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Journal of Electronic Imaging • Open Access

Verification of visual odometry algorithms with an OpenGL-based software tool
Author(s): Piotr Skulimowski; Pawel Strumillo

Paper Abstract

We present a software tool called a stereovision egomotion sequence generator that was developed for testing visual odometry (VO) algorithms. Various approaches to single and multicamera VO algorithms are reviewed first, and then a reference VO algorithm that has served to demonstrate the program’s features is described. The program offers simple tools for defining virtual static three-dimensional scenes and arbitrary six degrees of freedom motion paths within such scenes and output sequences of stereovision images, disparity ground-truth maps, and segmented scene images. A simple script language is proposed that simplifies tests of VO algorithms for user-defined scenarios. The program’s capabilities are demonstrated by testing a reference VO technique that employs stereoscopy and feature tracking.

Paper Details

Date Published: 7 May 2015
PDF: 9 pages
J. Electron. Imag. 24(3) 033003 doi: 10.1117/1.JEI.24.3.033003
Published in: Journal of Electronic Imaging Volume 24, Issue 3
Show Author Affiliations
Piotr Skulimowski, Lodz Univ. of Technology (Poland)
Pawel Strumillo, Lodz Univ. of Technology (Poland)


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