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题名:
Real-time depth camera tracking with geometrically stable weight algorithm
作者: Fu XY(付兴银); Zhu F(朱枫); Qi F(祁峰); Wang MM(王明明)
作者部门: 光电信息技术研究室
通讯作者: 朱枫
关键词: camera tracking ; weight algorithm ; shuffle ; depth camera ; reduction
刊名: Optical Engineering
ISSN号: 0091-3286
出版日期: 2017
卷号: 56, 期号:3, 页码:1-10
收录类别: SCI ; EI
产权排序: 1
摘要: We present an approach for real-time camera tracking with depth stream. Existing methods are prone to drift in sceneries without sufficient geometric information. First, we propose a new weight method for an iterative closest point algorithm commonly used in real-time dense mapping and tracking systems. By detecting uncertainty in pose and increasing weight of points that constrain unstable transformations, our system achieves accurate and robust trajectory estimation results. Our pipeline can be fully parallelized with GPU and incorporated into the current real-time depth camera tracking system seamlessly. Second, we compare the state-of-the-art weight algorithms and propose a weight degradation algorithm according to the measurement characteristics of a consumer depth camera. Third, we use Nvidia Kepler Shuffle instructions during warp and block reduction to improve the efficiency of our system. Results on the public TUM RGB-D database benchmark demonstrate that our camera tracking system achieves state-of-the-art results both in accuracy and efficiency.
语种: 英语
EI收录号: 20171203481378
WOS记录号: WOS:000397207200028
WOS标题词: Science & Technology ; Physical Sciences
类目[WOS]: Optics
研究领域[WOS]: Optics
Citation statistics:
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/20297
Appears in Collections:光电信息技术研究室_期刊论文

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Recommended Citation:
Fu XY,Zhu F,Qi F,et al. Real-time depth camera tracking with geometrically stable weight algorithm[J]. Optical Engineering,2017,56(3):1-10.
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