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Improving a stereo-based visual odometry prototype with global optimization
Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction.
2019 (English)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

In this degree project global optimization methods, for a previously developedsoftwareprototype of a stereo odometry system, were studied. The existing softwareestimatesthe motion between stereo frames and builds up a map of selected stereo frameswhich accumulates increasing error over time. The aim of the project was to studymethods to mitigate the error accumulated over time in the step-wise motionestimation.One approach based on relative pose estimates and another approach based onreprojection optimization were implemented and evaluated for the existing platform.The results indicate that optimization based on relative keyframe estimates ispromising for real-time usage. The second strategy based on reprojection of stereotriangulatedpoints proved useful as a refinement step but the relatively small errorreduction comes at an increased computational cost. Therefore, this approachrequiresfurther improvements to become applicable in situations where corrections areneededin real-time, and it is hard to justify the increased computations for the relatively smallerror reduction.The results also show that the global optimization primarily improves the absolutetrajectory error.

Place, publisher, year, edition, pages
2019.
Series
UPTEC F, ISSN 1401-5757 ; 19013
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:uu:diva-383268OAI: oai:DiVA.org:uu-383268DiVA, id: diva2:1315158
Educational program
Master Programme in Engineering Physics
Supervisors
Examiners
Available from: 2019-05-14 Created: 2019-05-12 Last updated: 2019-05-14Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
  • ieee
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  • vancouver
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  • de-DE
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  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
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  • Other locale
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Output format
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