In this paper, we propose a robust edge-direct visual odometry (VO) based on CNN edge detection and Shi-Tomasi corner optimization . Four layers of pyramid were extracted from the image in the proposed method to reduce the motion error between frames . Our method was compared with the dense direct method, the improved method of Canny edge detection, and ORB-SLAM2 system on the RGB-D TUMbenchmark . The experimental results indicate that our method achieves betterrobustness and accuracy .

Author(s) : Kengdong Lu, Jintao Cheng, Yubin Zhou, Juncan Deng, Rui Fan, Kaiqing Luo

Links : PDF - Abstract

Code :
Coursera

Keywords : method - edge - direct - detection - tomasi -

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