Robust direct vision-based pose tracking using normalized mutual information

Hang Luo; Christian Pape; Eduard Reithmeier

doi:10.1117/12.2500857

2 November 2018 Robust direct vision-based pose tracking using normalized mutual information

Hang Luo, Christian Pape, Eduard Reithmeier

Proceedings Volume 10819, Optical Metrology and Inspection for Industrial Applications V; 108190T (2018) https://doi.org/10.1117/12.2500857
Event: SPIE/COS Photonics Asia, 2018, Beijing, China

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.

Citation Download Citation

Hang Luo, Christian Pape, and Eduard Reithmeier "Robust direct vision-based pose tracking using normalized mutual information", Proc. SPIE 10819, Optical Metrology and Inspection for Industrial Applications V, 108190T (2 November 2018); https://doi.org/10.1117/12.2500857

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