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Real-time depth camera tracking with geometrically stable weight algorithm
Fu XY(付兴银); Zhu F(朱枫); Qi F(祁峰); Wang MM(王明明)
Department光电信息技术研究室
Source PublicationOptical Engineering
ISSN0091-3286
2017
Volume56Issue:3Pages:1-10
Indexed BySCI ; EI
EI Accession number20171203481378
WOS IDWOS:000397207200028
Contribution Rank1
KeywordCamera Tracking Weight Algorithm Shuffle Depth Camera Reduction
Abstract

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.

Language英语
WOS HeadingsScience & Technology ; Physical Sciences
WOS SubjectOptics
WOS Research AreaOptics
Citation statistics
Cited Times:3[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/20297
Collection光电信息技术研究室
Corresponding AuthorZhu F(朱枫)
Affiliation1.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
3.Key Laboratory of Opto-Electronic Information Processing, Chinese Academy of Sciences, Shenyang, China
4.Key Lab of Image Understanding and Computer Vision, Liaoning Province, China
Recommended Citation
GB/T 7714
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.
APA Fu XY,Zhu F,Qi F,&Wang MM.(2017).Real-time depth camera tracking with geometrically stable weight algorithm.Optical Engineering,56(3),1-10.
MLA Fu XY,et al."Real-time depth camera tracking with geometrically stable weight algorithm".Optical Engineering 56.3(2017):1-10.
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