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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)
作者部门光电信息技术研究室
关键词Camera Tracking Weight Algorithm Shuffle Depth Camera Reduction
发表期刊Optical Engineering
ISSN0091-3286
2017
卷号56期号:3页码:1-10
收录类别SCI ; EI
EI收录号20171203481378
WOS记录号WOS:000397207200028
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
WOS标题词Science & Technology ; Physical Sciences
WOS类目Optics
WOS研究方向Optics
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文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/20297
专题光电信息技术研究室
通讯作者Zhu F(朱枫)
作者单位1.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
推荐引用方式
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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