Robust direct vision-based pose tracking using normalized mutual information

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dc.identifier.uri http://dx.doi.org/10.15488/10272
dc.identifier.uri https://www.repo.uni-hannover.de/handle/123456789/10345
dc.contributor.author Luo, Hang
dc.contributor.author Pape, Christian
dc.contributor.author Reithmeier, Eduard
dc.date.accessioned 2020-12-08T15:27:06Z
dc.date.available 2020-12-08T15:27:06Z
dc.date.issued 2018
dc.identifier.citation Luo, H.; Pape, C.; Reithmeier, E.: Robust direct vision-based pose tracking using normalized mutual information. In: Proceedings of SPIE 10819 (2018), 108190T. DOI: https://doi.org/10.1117/12.2500857
dc.description.abstract This paper presents a novel visual tracking approach that combines the NMI metric and the traditional SSD metric within a gradient-based optimization frame, which can be used for direct visual odometry and SLAM. We firstly derivate the closed form expression for first- and second-order analytical NMI derivatives under the assumption of rigid-body transformations, which then can be used by subsequent Newton-like optimization methods. Then we develop a robust tracking scheme that utilizes the robustness of NMI metric while keeping the optimization characteristics of SSD-based Lucas-Kanade (LK) tracking methods. To validate the robustness and accuracy of the proposed approach, several experiments are performed on synthetic datasets as well as real image datasets. The experimental results demonstrate that our approach can provide fast, accurate pose estimation and obtain better tracking performance over standard SSD-based methods in most cases. © 2018 SPIE. eng
dc.language.iso eng
dc.publisher Bellingham : SPIE
dc.relation.ispartofseries Proceedings of SPIE 10819 (2018)
dc.rights Es gilt deutsches Urheberrecht. Das Dokument darf zum eigenen Gebrauch kostenfrei genutzt, aber nicht im Internet bereitgestellt oder an Außenstehende weitergegeben werden. Dieser Beitrag ist aufgrund einer (DFG-geförderten) Allianz- bzw. Nationallizenz frei zugänglich.
dc.subject Direct visual tracking eng
dc.subject Nonlinear optimization eng
dc.subject Normalized mutual information eng
dc.subject Sum of squared differences eng
dc.subject.ddc 620 | Ingenieurwissenschaften und Maschinenbau ger
dc.title Robust direct vision-based pose tracking using normalized mutual information eng
dc.type conferenceObject
dc.type article
dc.type Text
dc.relation.doi https://doi.org/10.1117/12.2500857
dc.bibliographicCitation.volume 10819
dc.bibliographicCitation.firstPage 108190T
dc.description.version publishedVersion
tib.accessRights frei zug�nglich


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