IEEE Transactions on Pattern Analysis and Machine Intelligence

IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI) is a scholarly archival journal published monthly. This journal covers traditional areas of computer vision and image understanding, all traditional areas of pattern analysis and recognition, and selected areas of machine intelligence. Read the full scope of TPAMI.

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From the March 2018 issue

Direct Sparse Odometry

J. Engel, V. Koltun and D. Cremers

Featured article thumbnail image Direct Sparse Odometry (DSO) is a visual odometry method based on a novel, highly accurate sparse and direct structure and motion formulation. It combines a fully direct probabilistic model (minimizing a photometric error) with consistent, joint optimization of all model parameters, including geometry-represented as inverse depth in a reference frame-and camera motion. This is achieved in real time by omitting the smoothness prior used in other direct methods and instead sampling pixels evenly throughout the images. Since our method does not depend on keypoint detectors or descriptors, it can naturally sample pixels from across all image regions that have intensity gradient, including edges or smooth intensity variations on essentially featureless walls. The proposed model integrates a full photometric calibration, accounting for exposure time, lens vignetting, and non-linear response functions. We thoroughly evaluate our method on three different datasets comprising several hours of video. The experiments show that the presented approach significantly outperforms state-of-the-art direct and indirect methods in a variety of real-world settings, both in terms of tracking accuracy and robustness.

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Editorials and Announcements


  • TPAMI now offers authors access to Code Ocean. Code Ocean is a cloud-based executable research platform that allows authors to share their algorithms in an effort to make the world’s scientific code more open and reproducible. Learn more or sign up for free.
  • We are pleased to announce that Sven Dickinson, a professor in the Department of Computer Science at the University of Toronto, Canada, has been named the new Editor-in-Chief of the IEEE Transactions on Pattern Analysis and Machine Intelligence starting in 2017.
  • According to Clarivate Analytics' 2016 Journal Citation Report, TPAMI has an impact factor of 8.329.


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