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Laser & Optoelectronics Progress, Volume. 57, Issue 20, 201501(2020)

Visual Odometer Based on Optical Flow Method and Feature Matching

Guangfu Xu1,2, Jichao Zeng1,2, and Xixiang Liu1,2、*
Author Affiliations
  • 1School of Instrument Science and Engineering, Southeast University, Nanjing, Jiangsu 210096, China
  • 2Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Nanjing, Jiangsu 210096, China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (9)
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    References (14)
    Cited By (8)
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    Figures & Tables(9)
    Flow chart of algorithm

    Fig. 1. Flow chart of algorithm

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    Schematic of referenced-frame/current-frame VO

    Fig. 2. Schematic of referenced-frame/current-frame VO

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    Schematic of optical-flow/feature-matching fusion. (a) Optical flow method; (b) feature matching introduced in optical flow method

    Fig. 3. Schematic of optical-flow/feature-matching fusion. (a) Optical flow method; (b) feature matching introduced in optical flow method

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    Relationship among different frame rates

    Fig. 4. Relationship among different frame rates

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    Schematic of reprojection error

    Fig. 5. Schematic of reprojection error

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    Trace map of proposed algorithm

    Fig. 6. Trace map of proposed algorithm

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    Estimated traces of different algorithms on EuRoC dataset. (a) V1_01_easy image; (b) V1_02_medium image

    Fig. 7. Estimated traces of different algorithms on EuRoC dataset. (a) V1_01_easy image; (b) V1_02_medium image

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    Time consumption test results of three methods. (a) Feature method; (b) optical flow method; (c) proposed algorithm; (d) time average of three methods

    Fig. 8. Time consumption test results of three methods. (a) Feature method; (b) optical flow method; (c) proposed algorithm; (d) time average of three methods

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    • Table 1. RMSEs of three algorithms unit: m

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      Table 1. RMSEs of three algorithms unit: m

      ImageProposed algorithmORBSLAM2LK
      V1_01_easy0.218419430.184329320.32365693
      V1_02_medium0.401359020.493164230.50254364
      V1_03_difficult0.4663932030.443013040.62435742
      V2_01_easy0.1748694030.170469820.36542354
      V2_02_medium0.5093123520.435916420.71354231
      V2_03_difficult0.3925698430.453306340.48636982
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    Guangfu Xu, Jichao Zeng, Xixiang Liu. Visual Odometer Based on Optical Flow Method and Feature Matching[J]. Laser & Optoelectronics Progress, 2020, 57(20): 201501

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    Paper Information

    Category: Machine Vision

    Received: Jan. 13, 2020

    Accepted: Feb. 24, 2020

    Published Online: Oct. 14, 2020

    The Author Email: Xixiang Liu (scliuseu@163.com)

    DOI:10.3788/LOP57.201501

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology