Accurate keyframe selection and keypoint tracking for robust visual odometry

Fabio Bellavia, Fabio Bellavia, Marco Fanfani, Carlo Colombo

Risultato della ricerca: Articlepeer review

15 Citazioni (Scopus)


This paper presents a novel stereo visual odometry (VO) framework based on structure from motion, where a robust keypoint tracking and matching is combined with an effective keyframe selection strategy. In order to track and find correct feature correspondences a robust loop chain matching scheme on two consecutive stereo pairs is introduced. Keyframe selection is based on the proportion of features with high temporal disparity. This criterion relies on the observation that the error in the pose estimation propagates from the uncertainty of 3D points—higher for distant points, that have low 2D motion. Comparative results based on three VO datasets show that the proposed solution is remarkably effective and robust even for very long path lengths.
Lingua originaleEnglish
pagine (da-a)833-844
Numero di pagine12
RivistaMachine Vision and Applications
Stato di pubblicazionePublished - 2016

All Science Journal Classification (ASJC) codes

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  • ???subjectarea.asjc.1700.1708???
  • ???subjectarea.asjc.1700.1707???
  • ???subjectarea.asjc.1700.1706???


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