A fusion algorithm of visual odometry based on feature-based method and direct method

摘要

A method that optimizes visual odometry, especially using visual odometry in the scene with absence of features is proposed in this paper. First, in order to estimate the pose of camera when the effect of using feature-based method is not good enough, direct method is implemented as the solution. Second, comparing with traditional visual odometry method, this method takes the environment restriction into consideration. On the one hand, if enough feature points are detected in a frame, feature-based method is to be used; on the other hand, direct method is used in the scene of missing features so that the accuracy of pose estimation could be guaranteed and improved. Finally, the feasibility of this method is proven by a number of experiments conducted on the experiment platform.