Authors: Piotr Skulimowski and Pawel Strumillo
Abstract: We present a software tool called a stereovision egomotion sequence generator that was developed for testing visual odometry (VO) algorithms. Various approaches to single and multicamera VO algorithms are reviewed first, and then a reference VO algorithm that has served to demonstrate the program’s features is described. The program offers simple tools for defining virtual static three-dimensional scenes and arbitrary six degrees of freedom motion paths within such scenes and output sequences of stereovision images, disparity ground-truth maps, and segmented scene images. A simple script language is proposed that simplifies tests of VO algorithms for user-defined scenarios. The program’s capabilities are demonstrated by testing a reference VO technique that employs stereoscopy and feature tracking.
Published at: http://electronicimaging.spiedigitallibrary.org/article.aspx?articleid=2293126
Download link: JEI_24_3_033003.pdf (532 downloads)
