Published September 12, 2019 | Version v1
Conference paper Open

Combination of Planes and Image Edges for a Visual Odometer for Weakly Textured Structured Environments

  • 1. University of the Balearic Islands


Camera trajectory estimation has generated a lot of interest during the last decades, especially for robotic positioning. It is well-known that outdoors positioning mainly relies on GPS, whereas one of the main used methods in indoor positioning is visual odometry. As it is well known, visual odometers get typically in trouble when the environment is weakly textured. Facing this situation, this paper develops and tests a novel visual odometer that combines image edges and planar information to estimate the trajectory of an RGB-D camera in environments that lack texture. We also present a plane matching method based on a graph matching technique. To conclude, a comparison of the proposed odometer for two well-known datasets and other visual odometers and SLAM systems is reported. The comparison shows our method as more accurate as for the estimation of the position in indoor places where visual features are poor, while similar values are obtained for other indoor environments.


This is a preprint version of publication with DOI: This work is also supported by projects PGC2018-095709-B-C21 (MCIU/AEI/FEDER, UE) and PROCOE/4/2017 (Govern Balear, 50% P.O. FEDER 2014-2020 Illes Balears), and the scholarship BES-2015-071804.



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ROBINS – Robotics Technology for Inspection of Ships 779776
European Commission