Visual Odometry by Multi-frame Feature Integration

Abstract

This paper presents a novel stereo-based visual odometry approach that provides state-of-the-art results in real time, both indoors and outdoors. Our proposed method follows the procedure of computing optical flow and stereo disparity to minimize the re-projection error of tracked feature points. However, instead of following the traditional approach of performing this task using only consecutive frames, we propose a novel and computationally inexpensive technique that uses the whole history of the tracked feature points to compute the motion of the camera. In our technique, which we call multi-frame feature integration, the features measured and tracked over all past frames are integrated into a single, improved estimate. An augmented feature set, composed of the improved estimates, is added to the optimization algorithm, improving the accuracy of the computed motion and reducing ego-motion drift. Experimental results show that the proposed approach reduces pose error by up to 65% with a negligible additional computational cost of 3.8%. Furthermore, our algorithm outperforms all other known methods on the KITTI Vision Benchmark data set.