Patch-based Illumination invariant Direct Visual Odometry (PIVO)

This package provides a MATLAB implementation of AURO 2019 & IROS 2015 papers: "Autonomous Flight with Robust Visual Odometry under Dynamic Lighting Conditions" & "Robust Visual Odometry to Irregular Illumination Changes with RGB-D camera" for the purpose of research and study only. Note that this repository only includes simplified proposed direct visual odometry example codes to understand how the PIVO works under light-changing environments.

1. Goal

Our goal is to estimate 6-DoF camera motion with respect to the light-changing environments. The proposed illumination-robust direct visual odometry achieves robustness with respect to the light-changing environments by employing the patch-based affine illumination model to compensate abrupt, irregular illumination changes during direct motion estimation.

2. Prerequisites

This package is tested on the MATLAB R2019b on Windows 7 64-bit. Some of the functions such as warpEntireImage_mex.mexw64 are compiled as MEX file to speed up the computation. You can use warpEntireImage.m instead if you cannot compile MEX file.

3. Usage

• Download the ICL-NUIM dataset from https://www.doc.ic.ac.uk/~ahanda/VaFRIC/iclnuim.html, 'of kt3' is recommended.

• Or, Use the ICL-NUIMdataset/of_kt3/ included in this package.

• Define 'datasetPath' correctly in your directory at setupParams_ICL_NUIM.m file.

• Run PIVO_core/main_script_ICL_NUIM.m, which will give you the 3D motion estimation result. Enjoy! :)

4. Publications

The approach is described and used in the following publications:

• Autonomous Flight with Robust Visual Odometry under Dynamic Lighting Conditions (Pyojin Kim, Hyeonbeom Lee, and H. Jin Kim), AURO 2019.

• Robust Visual Odometry to Irregular Illumination Changes with RGB-D camera (Pyojin Kim, Hyon Lim, and H. Jin Kim), IROS 2015.

You can find more related papers at http://pyojinkim.com/_pages/pub/index.html.

5. License

The package is licensed under the MIT License, see http://opensource.org/licenses/MIT.

if you use PIVO in an academic work, please cite:

@inproceedings{kim2019autonomous,
  author = {Kim, Pyojin and Lee, Hyeonbeom and Kim, H Jin},
  title = {Autonomous Flight with Robust Visual Odometry under Dynamic Lighting Conditions},
  year = {2019},
  booktitle = {Autonomous Robots (AURO)},
 }
 
@inproceedings{kim2015robust,
  author = {Kim, Pyojin and Lim, Hyon and Kim, H Jin},
  title = {Robust Visual Odometry to Irregular Illumination Changes with RGB-D camera},
  year = {2015},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
 }