A visual odometry with planar markers and feature point cues

Zhiyuan Zhang; Tong Ning; Yimei Liu; Hao Fan; Junyu Dong

doi:10.1117/12.3018345

2 May 2024 A visual odometry with planar markers and feature point cues

Zhiyuan Zhang, Tong Ning, Yimei Liu, Hao Fan, Junyu Dong

Proceedings Volume 13164, International Workshop on Advanced Imaging Technology (IWAIT) 2024; 1316414 (2024) https://doi.org/10.1117/12.3018345
Event: International Workshop on Advanced Imaging Technology (IWAIT) 2024, 2024, Langkawi, Malaysia

Abstract

In recent years, visual SLAM technology has matured significantly. SLAM systems usually depend on natural feature points to acquire precise motion information, however, these methods frequently encounter tracking failures in scenes characterized by weak or repetitive textures. This paper proposes a Marker-based visual SLAM system by fusing Marker-based and feature point-based Cues. We use Marker-point cues in tracking and extract Marker-plane cues from geometric lines in mapping. ORB feature points, marker features, and plane features collaboratively contribute to local map optimization. Our method has been compared with the latest SLAM systems on both the public dataset and our dataset. The results demonstrate that our method improves accuracy in scenes with weak textures, and enhances robustness in challenging texture-less regions.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Zhiyuan Zhang, Tong Ning, Yimei Liu, Hao Fan, and Junyu Dong "A visual odometry with planar markers and feature point cues", Proc. SPIE 13164, International Workshop on Advanced Imaging Technology (IWAIT) 2024, 1316414 (2 May 2024); https://doi.org/10.1117/12.3018345

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