| 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 Author | Zhu, Feng(fzhu@sia.cn) |
| 2017-03-01 | |
| Source Publication | OPTICAL ENGINEERING
 |
| ISSN | 0091-3286 |
| Volume | 56Issue:3Pages:10 |
| 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-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) |
| Keyword | camera tracking weight algorithm shuffle depth camera reduction |
| DOI | 10.1117/1.OE.56.3.033104 |
| Indexed By | SCI |
| Language | 英语 |
| WOS Research Area | Optics |
| WOS Subject | Optics |
| WOS ID | WOS:000397207200028 |
| Publisher | SPIE-SOC PHOTO-OPTICAL INSTRUMENTATION ENGINEERS |
| Citation statistics | |
| Document Type | 期刊论文 |
| Identifier | http://ir.imr.ac.cn/handle/321006/126984 |
| Collection | 中国科学院金属研究所 |
| Corresponding Author | Zhu, Feng |
| Affiliation | 1.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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