svo:一个半直接单目视觉里程计（长期更新）

最新推荐文章于 2025-07-23 09:15:46 发布

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最新推荐文章于 2025-07-23 09:15:46 发布

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原文链接：http://www.cnblogs.com/yebo92/p/5591126.html

介绍了一种精确、稳健且比现有技术更快的半直接单目视觉里程计算法SVO。该算法通过直接操作像素强度实现亚像素级别的精度，并在高帧率下工作，提升了在低纹理、重复纹理和高频纹理场景下的稳定性。适用于GPS受限环境下微型飞行器的状态估计。

源码：https://github.com/uzh-rpg/rpg_svo/tree/master/svo

视频：https://www.youtube.com/watch?v=2YnIMfw6bJY&feature=youtu.be

简介：

a semi-direct monocular visual odometry algorithm that is precise, robust, and faster than current state-of-the-art methods. The semi-direct approach eliminates the need of costly feature extraction and robust matching techniques for motion estimation. Our algorithm operates directly on pixel intensities, which results in subpixel precision at high frame-rates. A probabilistic mapping method that explicitly models outlier measurements is used to estimate 3D points, which results in fewer outliers and more reliable points. Precise and high frame-rate motion estimation brings increased robustness in scenes of little, repetitive, and high-frequency texture. The algorithm is applied to micro-aerial-vehicle state-estimation in GPS-denied environments and runs at 55 frames per second on the onboard embedded computer and at more than 300 frames per second on a consumer laptop. We call our approach SVO (Semi-direct Visual Odometry) and release our implementation as open-source software.

转载于:https://www.cnblogs.com/yebo92/p/5591126.html