Fast Monocular Visual Odometry for Augmented Reality on Smartphones

Abstract

In the past decade, visual odometry has great progress due to the development of computer vision technology. However, the existing methods are mainly designed for vehicles rather than mobile devices because of their high computational cost. To address the problem, in this paper. a fast visual odometry system is proposed for smartphones, the presented system called FastVO. The FastVO consists of feature tracking, relative pose estimation, and trajectory construction. Experiments conducted on both the benchmarking dataset and the real scenes are provided to demonstrate the effectiveness of the presented visual odometry system.