View metadata, citation and similar papers at core.ac.uk brought to you by CORE provided by Open Archive Toulouse Archive Ouverte Open Archive TOULOUSE Archive Ouverte ( OATAO ) OATAO is an open access repository that collects the work of Toulouse researchers and makes it freely available over the web where possible. This is an author-deposited version published in : http://oatao.univ-toulouse.fr/ Eprints ID : 19265 To link to this article : DOI: 10.1007/s11554-017-0670-y URL : http://dx.doi.org/10.1007/s11554-017-0670-y To cite this version : Angladon, Vincent and Gasparini, Simone and Charvillat, Vincent and Pribani ć, Tomislav and Petkovi ć, Tomislav and Ðonli ć, Matea and Ahsan, Benjamin and Bruel, Frédéric An evaluation of real-time RGB-D visual odometry algorithms on mobile devices . (2017) Journal of Real-Time Image Processing. pp. 1-24. ISSN 1861-8200 Any correspondence concerning this service should be sent to the repository administrator:
[email protected] An Evaluation of Real-Time RGB-D Visual Odometry Algorithms on Mobile Devices Vincent Angladon 1,2 , Simone Gasparini 1, Vincent Charvillat 1, Tomislav Pribanić 3, Tomislav Petković 3, Matea Ðonlić 3, Benjamin Ahsan 2, and Frédéric Bruel 2 1Université de Toulouse; INPT – IRIT; 118 Route de Narbonne, F-31062 Toulouse, France, {vincent.angladon, simone.gasparini, vincent.charvillat}@irit.fr 2Telequid; Toulouse, France, {benjamin.ahsan, frederic.bruel}@telequid.fr 3Faculty of Electrical Engineering and Computing, University of Zagreb, Unska 3, HR-10000 Zagreb, Croatia, {tomislav.pribanic, tomislav.petkovic.jr, matea.donlic}@fer.hr Abstract We present an evaluation and a comparison of different Visual Odometry algorithms, selected to be tested on a mobile device equipped with a RGB-D camera.