Real-time depth camera tracking with geometrically stable weight algorithm
Fu, Xingyin1,3,4,5; Zhu, Feng1,4,5; Qi, Feng2,4,5; Wang, Mingming1,3,4,5
Corresponding AuthorZhu, Feng(
AbstractWe 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-theart 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. (C) 2017 Society of Photo-Optical Instrumentation Engineers (SPIE)
Keywordcamera tracking weight algorithm shuffle depth camera reduction
Indexed BySCI
WOS Research AreaOptics
WOS SubjectOptics
WOS IDWOS:000397207200028
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Cited Times:4[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Corresponding AuthorZhu, Feng
Affiliation1.Chinese Acad Sci, Shenyang Inst Automat, Shenyang, Peoples R China
2.Chinese Acad Sci, Shenyang Inst Automat, THz Imaging Grp, Shenyang, Peoples R China
3.Univ Chinese Acad Sci, Beijing, Peoples R China
4.Chinese Acad Sci, Key Lab Optoelect Informat Proc, Shenyang, Peoples R China
5.Key Lab Image Understanding & Comp Vis, Shenyang, Liaoning Provin, Peoples R China
Recommended Citation
GB/T 7714
Fu, Xingyin,Zhu, Feng,Qi, Feng,et al. Real-time depth camera tracking with geometrically stable weight algorithm[J]. OPTICAL ENGINEERING,2017,56(3):10.
APA Fu, Xingyin,Zhu, Feng,Qi, Feng,&Wang, Mingming.(2017).Real-time depth camera tracking with geometrically stable weight algorithm.OPTICAL ENGINEERING,56(3),10.
MLA Fu, Xingyin,et al."Real-time depth camera tracking with geometrically stable weight algorithm".OPTICAL ENGINEERING 56.3(2017):10.
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