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Bi-objective Optimization for Robust RGB-D Visual Odometry

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Open access
Authors
Han, T.
Xu, C.
Loxton, Ryan
Xie, L.
Date
2015
Type
Conference Paper

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Han, T. and Xu, C. and Loxton, R. and Xie, L. 2015. Bi-objective Optimization for Robust RGB-D Visual Odometry, in Proceedings of the 2015 27th Chinese Control and Decision Conference (CCDC), pp. 1843-1850. Qingdao, China: IEEE.
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Proceedings of the 2015 27th Chinese Control and Decision Conference (CCDC)
Source Conference
2015 27th Chinese Control and Decision Conference (CCDC)
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Department of Mathematics and Statistics
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Abstract

This paper considers a new bi-objective optimization formulation for robust RGB-D visual odometry. We investigate two methods for solving the proposed bi-objective optimization problem: the weighted sum method (in which the objective functions are combined into a single objective function) and the bounded objective method (in which one of the objective functions is optimized and the value of the other objective function is bounded via a constraint). Our experimental results for the open source TUM RGB-D dataset show that the new bi-objective optimization formulation is superior to several existing RGB-D odometry methods. In particular, the new formulation yields more accurate motion estimates and is more robust when textural or structural features in the image sequence are lacking.