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Proceedings Paper

Research on features matching method for visual odometry based on depth image
Author(s): Guosheng Wang; Feng Guo; Qiang Lv; Jianye Ma
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Paper Abstract

The unmanned aerial vehicle needs an effective visual odometry system intask of indoor. The sparse visual odometry of RGB-D sensor is difficult to extractor enough color image features in darkness environment of indoor, which results in the failure of matching. We present a method that extract 2D features from the depth image directly. The paper discussed the matching performance of ORB, FREAK and SURF descriptor to the depth image. The results of the experiments show that it is feasible extractor 2D features from the depth image to matching in visual odometry, the ORB descriptor is better than other methods suitable for this kind of application.

Paper Details

Date Published: 3 December 2015
PDF: 5 pages
Proc. SPIE 9794, Sixth International Conference on Electronics and Information Engineering, 97941U (3 December 2015); doi: 10.1117/12.2208938
Show Author Affiliations
Guosheng Wang, Academy of Armored Forces Engineering (China)
Feng Guo, Academy of Armored Forces Engineering (China)
Qiang Lv, Academy of Armored Forces Engineering (China)
Jianye Ma, Academy of Armored Forces Engineering (China)


Published in SPIE Proceedings Vol. 9794:
Sixth International Conference on Electronics and Information Engineering
Qiang Zhang, Editor(s)

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