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Flexible Threshold Visual Odometry Algorithm Using Fuzzy Logics

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Proceedings of 2nd International Conference on Computer Vision & Image Processing

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 703))

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Abstract

Visual odometry is a widely known art in the field of computer vision used for the task of estimating rotation and translation between two consecutive time instants. The RANSAC scheme used for outlier rejection incorporates a constant threshold for selecting inliers. The selection of an optimum number of inliers dispersed over the entire image is very important for accurate pose estimation and is decided on the basis of inlier threshold. In this paper, the threshold for inlier classification is adapted with the help of fuzzy logic scheme and varies with the data dynamics. The fuzzy logic is designed with an assumption about the maximum possible camera rotation that can be observed between consequent frames. The proposed methodology has been applied on KITTI dataset, and a comparison has been laid forth between adaptive RANSAC with and without using fuzzy logic with an aim of imparting flexibility to visual odometry algorithm.

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Author information

Authors and Affiliations

  1. Ajay Kumar Garg Engineering College, Ghaziabad, India

    Rahul Mahajan

  2. VIT University, Vellore, India

    P. Vivekananda Shanmuganathan

  3. CSIR-Central Scientific Instruments Organisation, Chandigarh, India

    Vinod Karar & Shashi Poddar

Authors
  1. Rahul Mahajan
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  2. P. Vivekananda Shanmuganathan
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  3. Vinod Karar
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  4. Shashi Poddar
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Corresponding author

Correspondence to Rahul Mahajan .

Editor information

Editors and Affiliations

  1. Computer Vision and Pattern Recognition Unit, Indian Statistical Institute, Kolkata, India

    Bidyut B. Chaudhuri

  2. School of Computing, National University of Singapore, Singapore, Singapore

    Mohan S. Kankanhalli

  3. Department of Computer Science and Engineering, Indian Institute of Technology Roorkee, Roorkee, Uttarakhand, India

    Balasubramanian Raman

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Mahajan, R., Vivekananda Shanmuganathan, P., Karar, V., Poddar, S. (2018). Flexible Threshold Visual Odometry Algorithm Using Fuzzy Logics. In: Chaudhuri, B., Kankanhalli, M., Raman, B. (eds) Proceedings of 2nd International Conference on Computer Vision & Image Processing . Advances in Intelligent Systems and Computing, vol 703. Springer, Singapore. https://doi.org/10.1007/978-981-10-7895-8_23

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  • DOI: https://doi.org/10.1007/978-981-10-7895-8_23

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-7894-1

  • Online ISBN: 978-981-10-7895-8

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