ViLiVO: Virtual LiDAR-Visual Odometry for an Autonomous Vehicle with a Multi-Camera System

09/30/2019
by   Zhenzhen Xiang, et al.
19

In this paper, we present a multi-camera visual odometry (VO) system for an autonomous vehicle. Our system mainly consists of a virtual LiDAR and a pose tracker. We use a perspective transformation method to synthesize a surround-view image from undistorted fisheye camera images. With a semantic segmentation model, the free space can be extracted. The scans of the virtual LiDAR are generated by discretizing the contours of the free space. As for the pose tracker, we propose a visual odometry system fusing both the feature matching and the virtual LiDAR scan matching results. Only those feature points located in the free space area are utilized to ensure the 2D-2D matching for pose estimation. Furthermore, bundle adjustment (BA) is performed to minimize the feature points reprojection error and scan matching error. We apply our system to an autonomous vehicle equipped with four fisheye cameras. The testing scenarios include an outdoor parking lot as well as an indoor garage. Experimental results demonstrate that our system achieves a more robust and accurate performance comparing with a fisheye camera based monocular visual odometry system.

READ FULL TEXT

page 1

page 3

page 5

page 6

research
05/25/2021

Simple But Effective Redundant Odometry for Autonomous Vehicles

Robust and reliable ego-motion is a key component of most autonomous mob...
research
09/17/2018

Efficient 2D-3D Matching for Multi-Camera Visual Localization

Visual localization, i.e., determining the position and orientation of a...
research
03/09/2023

Virtual Inverse Perspective Mapping for Simultaneous Pose and Motion Estimation

We propose an automatic method for pose and motion estimation against a ...
research
07/19/2018

LIMO: Lidar-Monocular Visual Odometry

Higher level functionality in autonomous driving depends strongly on a p...
research
06/17/2015

CFORB: Circular FREAK-ORB Visual Odometry

We present a novel Visual Odometry algorithm entitled Circular FREAK-ORB...
research
12/29/2019

SLOAM: Semantic Lidar Odometry and Mapping for Forest Inventory

This paper describes an end-to-end pipeline for tree diameter estimation...
research
11/15/2021

Observation Contribution Theory for Pose Estimation Accuracy

The improvement of pose estimation accuracy is currently the fundamental...

Please sign up or login with your details

Forgot password? Click here to reset