Academic Journal
Dense Visual Odometry Using Genetic Algorithm
| العنوان: | Dense Visual Odometry Using Genetic Algorithm |
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| المؤلفون: | Djema, Slimane, Benselama, Zoubir Abdeslem, Hedjar, Ramdane, Abdallah, Krabi |
| المساهمون: | Département d'Electronique Blida, Université Saâd Dahlab Blida 1 (UB1), King Saud University Riyadh (KSU) |
| المصدر: | ISSN: 2147-6799 ; International Journal of Intelligent Systems and Applications in Engineering ; https://hal.science/hal-04274482 ; International Journal of Intelligent Systems and Applications in Engineering, 2023, 11 (3), pp.611-619. ⟨10.48550/arXiv.2311.06149⟩ ; https://ijisae.org/index.php/IJISAE. |
| بيانات النشر: | HAL CCSD |
| سنة النشر: | 2023 |
| المجموعة: | Archive ouverte HAL (Hyper Article en Ligne, CCSD - Centre pour la Communication Scientifique Directe) |
| مصطلحات موضوعية: | camera motion, genetic Algorithm, RGB-D images, static scene, visual odometry, Robotics (cs.RO), Artificial Intelligence (cs.AI), Computer Vision and Pattern Recognition (cs.CV), FOS: Computer and information sciences, I.2.9 Robotics, I.2.10 Vision and Scene Understanding (I.4.8, I.5), [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI], [INFO.EIAH]Computer Science [cs]/Technology for Human Learning, [INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], [INFO.INFO-ES]Computer Science [cs]/Embedded Systems, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-TI]Computer Science [cs]/Image Processing [eess.IV], [INFO.INFO-TS]Computer Science [cs]/Signal and Image Processing, [SPI.TRON]Engineering Sciences [physics]/Electronics |
| الوصف: | International audience ; Our work aims to estimate the camera motion mounted on the head of a mobile robot or a moving object from RGB-D images in a static scene. The problem of motion estimation is transformed into a nonlinear least squares function. Methods for solving such problems are iterative. Various classic methods gave an iterative solution by linearizing this function. We can also use the metaheuristic optimization method to solve this problem and improve results. In this paper, a new algorithm is developed for visual odometry using a sequence of RGB-D images. This algorithm is based on a genetic algorithm. The proposed iterative genetic algorithm searches using particles to estimate the optimal motion and then compares it to the traditional methods. To evaluate our method, we use the root mean square error to compare it with the based energy method and another metaheuristic method. We prove the efficiency of our innovative algorithm on a large set of images. |
| نوع الوثيقة: | article in journal/newspaper |
| اللغة: | English |
| Relation: | hal-04274482; https://hal.science/hal-04274482; https://hal.science/hal-04274482/document; https://hal.science/hal-04274482/file/IJISAE_6_djema%2Bslimane.pdf |
| DOI: | 10.48550/arXiv.2311.06149 |
| الاتاحة: | https://hal.science/hal-04274482 https://hal.science/hal-04274482/document https://hal.science/hal-04274482/file/IJISAE_6_djema%2Bslimane.pdf https://doi.org/10.48550/arXiv.2311.06149 |
| Rights: | info:eu-repo/semantics/OpenAccess |
| رقم الانضمام: | edsbas.5F637379 |
| قاعدة البيانات: | BASE |
| DOI: | 10.48550/arXiv.2311.06149 |
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