Verification of visual odometry algorithms with an OpenGL-based software tool

Piotr Skulimowski; Pawel Strumillo

doi:10.1117/1.JEI.24.3.033003

7 May 2015 Verification of visual odometry algorithms with an OpenGL-based software tool

Piotr Skulimowski, Pawel Strumillo

Author Affiliations +

Journal of Electronic Imaging, Vol. 24, Issue 3, 033003 (May 2015). https://doi.org/10.1117/1.JEI.24.3.033003

Abstract

We present a software tool called a stereovision egomotion sequence generator that was developed for testing visual odometry (VO) algorithms. Various approaches to single and multicamera VO algorithms are reviewed first, and then a reference VO algorithm that has served to demonstrate the program’s features is described. The program offers simple tools for defining virtual static three-dimensional scenes and arbitrary six degrees of freedom motion paths within such scenes and output sequences of stereovision images, disparity ground-truth maps, and segmented scene images. A simple script language is proposed that simplifies tests of VO algorithms for user-defined scenarios. The program’s capabilities are demonstrated by testing a reference VO technique that employs stereoscopy and feature tracking.

CC BY: © The Authors. Published by SPIE under a Creative Commons Attribution 4.0 Unported License. Distribution or reproduction of this work in whole or in part requires full attribution of the original publication, including its DOI.

Citation Download Citation

Piotr Skulimowski and Pawel Strumillo "Verification of visual odometry algorithms with an OpenGL-based software tool," Journal of Electronic Imaging 24(3), 033003 (7 May 2015). https://doi.org/10.1117/1.JEI.24.3.033003

Published: 7 May 2015

ACCESS THE FULL ARTICLE

JOURNAL ARTICLE
9 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

CITATIONS

Cited by 4 scholarly publications.

Explore citations on Lens.org

KEYWORDS

Image segmentation

Cameras

Visualization

Imaging systems

Algorithm development

Motion estimation

3D image processing

Show All Keywords

RELATED CONTENT

Evaluation metrics for bone segmentation in ultrasound
Proceedings of SPIE (March 18 2015)

Development and optimization of two dimensional centering algorithm for bacterial...
Proceedings of SPIE (February 12 2008)

Stereoscopic conversion of two-dimensional movie encoded in MPEG-2
Proceedings of SPIE (August 30 2006)

Augmented reality system
Proceedings of SPIE (September 07 2010)

User-assisted segmentation algorithm using B-spline curves
Proceedings of SPIE (December 29 2000)

A novel triangulation method for building parallel-perspective stereo mosaics
Proceedings of SPIE (March 05 2007)

Smoothing region boundaries in variable depth mapping for real time...
Proceedings of SPIE (March 22 2005)

Subscribe to Digital Library

Receive Erratum Email Alert

Show All Keywords

Keywords/Phrases

Search In:

Publication Years