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Conventional RGB-D Visual Odometry (RGBD-VO) often relies on iterative optimization solvers to estimate pose and involves a process of feature extraction and matching. This results in significant computational burden and time delays. To address this, our innovative method for RGBD-VO separates the estimation of rotation and translation. Initially, we exploit the overlaid planar characteristics within the scene to calculate the rotation matrix. Following this, we utilize a Kernel Cross-Correlator (KCC) to ascertain the translation. By sidestepping the resource-intensive iterative optimization and feature extraction and alignment procedures, our methodology offers improved computational efficacy, achieving a performance of 71[Formula: see text]Hz on a lower-end i5 CPU. When the RGBD-VO does not rely on feature points, our technique exhibits enhanced performance in low-texture degenerative environments compared to state-of-the-art methods. <\/jats:p>","DOI":"10.1142\/s2301385025500591","type":"journal-article","created":{"date-parts":[[2024,8,11]],"date-time":"2024-08-11T03:43:36Z","timestamp":1723347816000},"page":"957-969","source":"Crossref","is-referenced-by-count":4,"title":["A Fast and Light-Weight NonIterative Visual Odometry with RGB-D Cameras"],"prefix":"10.1142","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0009-0007-5348-9099","authenticated-orcid":false,"given":"Zheng","family":"Yang","sequence":"first","affiliation":[{"name":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798, Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1884-276X","authenticated-orcid":false,"given":"Kuan","family":"Xu","sequence":"additional","affiliation":[{"name":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798, Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0003-1887-6342","authenticated-orcid":false,"given":"Shenghai","family":"Yuan","sequence":"additional","affiliation":[{"name":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798, Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7137-4136","authenticated-orcid":false,"given":"Lihua","family":"Xie","sequence":"additional","affiliation":[{"name":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798, Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2024,9,19]]},"reference":[{"key":"S2301385025500591BIB001","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2853729"},{"key":"S2301385025500591BIB002","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2017.2705103"},{"key":"S2301385025500591BIB003","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21831"},{"key":"S2301385025500591BIB004","doi-asserted-by":"publisher","DOI":"10.1117\/12.2674619"},{"key":"S2301385025500591BIB005","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.00498"},{"key":"S2301385025500591BIB006","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206593"},{"key":"S2301385025500591BIB007","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2875382"},{"key":"S2301385025500591BIB008","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593594"},{"key":"S2301385025500591BIB009","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2020.3032831"},{"key":"S2301385025500591BIB010","doi-asserted-by":"publisher","DOI":"10.5244\/C.31.62"},{"key":"S2301385025500591BIB011","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8463207"},{"key":"S2301385025500591BIB012","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9562030"},{"key":"S2301385025500591BIB013","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v32i1.11710"},{"key":"S2301385025500591BIB014","doi-asserted-by":"publisher","DOI":"10.1109\/ICAR.2017.8023500"},{"key":"S2301385025500591BIB015","doi-asserted-by":"publisher","DOI":"10.1109\/TMM.2021.3114546"},{"key":"S2301385025500591BIB016","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3014648"},{"key":"S2301385025500591BIB017","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561560"},{"issue":"11","key":"S2301385025500591BIB018","first-page":"8403","volume":"44","author":"Joo K.","year":"2021","journal-title":"IEEE Trans. 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