Semantic and edge-based visual odometry by joint minimizing semantic and edge distance error

作者：

Highlights：

• Edge-based methods are investigated in this study and a new method is proposed

• Proposed method is first to combine semantic segmentation with edge-based odometry

• Semantic-based distance error term is introduced to improve positioning accuracy

• Semantic-based distance error and edge-based distance error are joined

• Experiments demonstrate the increased accuracy by using the combined approach

摘要

•Edge-based methods are investigated in this study and a new method is proposed•Proposed method is first to combine semantic segmentation with edge-based odometry•Semantic-based distance error term is introduced to improve positioning accuracy•Semantic-based distance error and edge-based distance error are joined•Experiments demonstrate the increased accuracy by using the combined approach

论文关键词：Edge-based visual odometry,Semantic visual odometry distance transform (DT),Edge alignment,Semantic segmentation

论文评审过程：Received 19 May 2021, Accepted 8 June 2021, Available online 3 July 2021, Version of Record 9 July 2021.

论文官网地址：https://doi.org/10.1016/j.imavis.2021.104240