Design of the Bundle Adjustment FPGA-SoC Architecture for Real Time Vision Based SLAM in AR Glasses

2021 ◽  
Author(s):  
Yeseul Son ◽  
Kwang-Soon Choi ◽  
Dohoon Kim
Keyword(s):  
Real Time ◽  
Bundle Adjustment

REAL-TIME PHOTOGRAMMETRY AT THE DIGITAL PHOTOGRAMMETRIC STATION (DIPS) OF ETH ZURICH

1987 ◽  
Vol 41 (2) ◽  
pp. 181-199 ◽  
Author(s):  
Armin W. Gruen ◽  
Horst A. Beyer
Keyword(s):  
Real Time ◽  
Three Dimensional ◽  
Development Program ◽  
Bundle Adjustment ◽  
Object Distance ◽  
Federal Institute ◽  
Adjustment Program ◽  
Three Dimensional Measurement ◽  
Institute Of Technology ◽  
Processing Steps

Real-time photogrammetry (RTP) is a non-contact three-dimensional measurement technique with a response time of one video cycle. As part of a research and development program for digital and real-time photogrammetry, the Institute of Geodesy and Photogrammety at the Swiss Federal Institute of Technology, Zurich, Switzerland, has established the Digital Photogrammetric Station (DIPS). The hardware and software of this development system is explained. Hardware aspects of solid-state cameras relevant to camera calibration for RTP are discussed. An off-line bundle adjustment program with additional parameters has been installed. An initial calibration and point positioning test using this program and existing image processing algorithms has been performed. The processing steps and results are analyzed. Accuracies, as computed from object space check points, in planimetry of 1:5000 or 0.09 pixel pitch, in depth of 0.08%c of object distance, have been achieved.

scholarly journals Stereo vision-based visual odometry for planetary exploration

2021 ◽  
Author(s):  
Kieran Kneisel
Keyword(s):  
Real Time ◽  
Computational Cost ◽  
Visual Odometry ◽  
Bundle Adjustment ◽  
Robotic Exploration ◽  
Long Duration ◽  
Measurement Units ◽  
Error Accumulation ◽  
Localization Performance ◽  
Visual Odometer

The ability to localize an unmanned vehicle is an essential requirement for extraterrestrial robotic exploration missions. The goal of this thesis is to develop a visual odometry algorithm capable of operating in real-time and in natural unstructured environments. Accuracy, repeatability and computational cost were the primary considerations during the development of the algorithm. The resulting visual odometry algorithm can operate in real-time and provides the foundations for further development. More commonly used approaches for localization include the use of inertial measurement units (IMU) or wheel odometry, which are prone to drift and slippage respectively, making them unreliable for long duration missions. Visual odometry also experiences error accumulation, however, it offers the possibility of mitigating this problem through techniques such as loop closing and bundle adjustment. The performance of the Iterative Closest Point (ICP) algorithm in conjunction within the visual odometer was also evaluated and shown to have improved overall localization performance.

scholarly journals Stereo vision-based visual odometry for planetary exploration

2021 ◽  
Author(s):  
Kieran Kneisel
Keyword(s):  
Real Time ◽  
Computational Cost ◽  
Visual Odometry ◽  
Bundle Adjustment ◽  
Robotic Exploration ◽  
Long Duration ◽  
Measurement Units ◽  
Error Accumulation ◽  
Localization Performance ◽  
Visual Odometer

The ability to localize an unmanned vehicle is an essential requirement for extraterrestrial robotic exploration missions. The goal of this thesis is to develop a visual odometry algorithm capable of operating in real-time and in natural unstructured environments. Accuracy, repeatability and computational cost were the primary considerations during the development of the algorithm. The resulting visual odometry algorithm can operate in real-time and provides the foundations for further development. More commonly used approaches for localization include the use of inertial measurement units (IMU) or wheel odometry, which are prone to drift and slippage respectively, making them unreliable for long duration missions. Visual odometry also experiences error accumulation, however, it offers the possibility of mitigating this problem through techniques such as loop closing and bundle adjustment. The performance of the Iterative Closest Point (ICP) algorithm in conjunction within the visual odometer was also evaluated and shown to have improved overall localization performance.

Bundle adjustment in real-time mosaicking of frame-sweep infrared imaging

2016 ◽  
Vol 45 (1) ◽  
pp. 104002
Author(s):  
王雨曦 Wang Yuxi ◽  
亓洪兴 Qi Hongxing ◽  
马彦鹏 Ma Yanpeng ◽  
葛明锋 Ge Mingfeng
Keyword(s):  
Real Time ◽  
Infrared Imaging ◽  
Bundle Adjustment

Towards Real-Time Trinocular Visual Odometry

2014 ◽  
Vol 490-491 ◽  
pp. 1424-1429
Author(s):  
Jae Heon Jeong ◽  
Nikolaus Correll
Keyword(s):  
Real Time ◽  
Visual Odometry ◽  
Bundle Adjustment ◽  
Image Resolution ◽  
Outdoor Environment ◽  
Frame Rate ◽  
Divide And Conquer ◽  
Time Operation ◽  
Speed Up ◽  
Computationally Expensive

Pose estimation of multi-camera rig which has not enough overlapping field of views for the stereo, is generally computationally expensive due to the offset of camera center and the bundle adjustment algorithm. We proposed a divide and conquer approach, which reduces the trinocular visual odometry problem to five monocular visual odometry problems, one for each individual camera sequence and two more using features matched temporally from consecutive images from the center to the left and right cameras, respectively. While this approach provides high accuracy over long distances in outdoor environment without requiring any additional sensors, it is computationally expensive, preventing real-time operation. In this paper, we evaluate trading off image resolution and frame rate to speed up computation with accuracy. Results show that scaling images down to a quarter of Full HD resolution can speed up computation by two orders of magnitude, while still providing acceptable accuracy, whereas dropping frames quickly deteriorates performance.

scholarly journals A real-time semantic visual SLAM approach with points and objects

2020 ◽  
Vol 17 (1) ◽  
pp. 172988142090544
Author(s):  
Peiyu Guan ◽  
Zhiqiang Cao ◽  
Erkui Chen ◽  
Shuang Liang ◽  
Min Tan ◽  
...  
Keyword(s):  
Real Time ◽  
Object Segmentation ◽  
Bundle Adjustment ◽  
Service Robots ◽  
Object A ◽  
Accurate Localization ◽  
Localization And Mapping ◽  
Point Object ◽  
Environment Perception ◽  
Object Association

Visual simultaneously localization and mapping (SLAM) is important for self-localization and environment perception of service robots, where semantic SLAM can provide a more accurate localization result and a map with abundant semantic information. In this article, we propose a real-time PO-SLAM approach with the combination of both point and object measurements. With point–point association in ORB-SLAM2, we also consider point–object association based on object segmentation and object–object association, where the object segmentation is employed by combining object detection with depth histogram. Also, besides the constraint of feature points belonging to an object, a semantic constraint of relative position invariance among objects is introduced. Accordingly, two semantic loss functions with point and object information are designed and added to the bundle adjustment optimization. The effectiveness of the proposed approach is verified by experiments.

scholarly journals FUSION OF MULTI-VIEW AND MULTI-SCALE AERIAL IMAGERY FOR REAL-TIME SITUATION AWARENESS APPLICATIONS

2015 ◽  
Vol XL-1/W4 ◽  
pp. 201-206 ◽  
Author(s):  
X. Zhuo ◽  
F. Kurz ◽  
P. Reinartz
Keyword(s):  
Real Time ◽  
Reference Frame ◽  
Situation Awareness ◽  
Large Scale ◽  
Bundle Adjustment ◽  
Aerial Imagery ◽  
Aerial Images ◽  
Aerial Image ◽  
Main Concern ◽  
Multi Scale

Manned aircraft has long been used for capturing large-scale aerial images, yet the high costs and weather dependence restrict its availability in emergency situations. In recent years, MAV (Micro Aerial Vehicle) emerged as a novel modality for aerial image acquisition. Its maneuverability and flexibility enable a rapid awareness of the scene of interest. Since these two platforms deliver scene information from different scale and different view, it makes sense to fuse these two types of complimentary imagery to achieve a quick, accurate and detailed description of the scene, which is the main concern of real-time situation awareness. This paper proposes a method to fuse multi-view and multi-scale aerial imagery by establishing a common reference frame. In particular, common features among MAV images and geo-referenced airplane images can be extracted by a scale invariant feature detector like SIFT. From the tie point of geo-referenced images we derive the coordinate of corresponding ground points, which are then utilized as ground control points in global bundle adjustment of MAV images. In this way, the MAV block is aligned to the reference frame. Experiment results show that this method can achieve fully automatic geo-referencing of MAV images even if GPS/IMU acquisition has dropouts, and the orientation accuracy is improved compared to the GPS/IMU based georeferencing. The concept for a subsequent 3D classification method is also described in this paper.

Study on the Technologies of Rapid Three-Dimension Optical Measurement for Welding Deformation of Sheet Materials

2010 ◽  
Vol 97-101 ◽  
pp. 4251-4256 ◽  
Author(s):  
Zhen Zhong Xiao ◽  
Jin Liang ◽  
De Hong Yu ◽  
Zheng Zong Tang
Keyword(s):  
Real Time ◽  
High Speed ◽  
High Efficiency ◽  
Three Dimensional ◽  
Bundle Adjustment ◽  
Reconstruction Technique ◽  
Welding Deformation ◽  
Three Dimension ◽  
Time Deformation ◽  
Sheet Materials

To solve the problem of measurement for welding deformation of sheet metal, a non-contact three-dimension optical method is proposed. Firstly, photos of moving objects from different observation points are taken by two high-resolution and high-speed digital cameras simultaneously. Secondly, the three-dimensional coordinates of targets are calculated by three-dimensional reconstruction technique including collinear equation, photo orientation based on the coplanar equation, direct linear transform, epipolar geometric constraint and bundle adjustment method. Finally, the deformations at different moments are associated with points of the same name; the deformation of the observation points is calculated and the real time deformation curves are sketched. Compared with the traditional methods, this method is not subjected to the high temperature and strong interference and has the advantages of real-time, high efficiency and high precision. The application in the measurement for welding deformation of sheet materials is satisfying.

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