Journal of Guangdong University of Technology ›› 2021, Vol. 38 ›› Issue (04): 65-70.doi: 10.12052/gdutxb.200138

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Direct Sparse Visual Odometer Based on Enhanced Stereo-Camera Constraints

Ye Pei-chu, Li Dong, Zhang Yun   

  1. School of Automation, Guangdong University of Technology, Guangzhou 510006, China
  • Received:2020-10-16 Online:2021-07-10 Published:2021-05-25

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Abstract: A new direct SLAM (Simultaneous Localization And Mapping) system with enhanced stereo-camera constrains based on Stereo Direct Sparse Odometry (Stereo DSO) is presented. As a direct SLAM method, any image pixel with sufficient intensity gradient can be utilized, which makes it robust even in featureless areas. Two-stage checking combining SAD (Sum of Absolute Differences) with NCC (Normalized Cross Correlation) matching method is used for stereo matching and triangulated uncertainty concerned to accelerate the convergence of depth filters. To estimate the accurate scale of the environment, static stereo constrains are added to the tracking module. Our evaluation on KITTI demonstrates that the proposed system achieves the better performance than the state of the art direct SLAM systems such as LSD-SLAM2 and Stereo DSO, and achieves the comparable performance with ORB-SLAM3 which is the state of the art feature SLAM. The proposal provides mobile robots with a new direct SLAM system to explore the environment more precisely and robustly.

Key words: visual odometer, direct method, mobile robot, simultaneous localization and mapping(SLAM)

CLC Number: 

  • TP391.4
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