Salient Sparse Visual Odometry With Pose-Only Supervision.
Siyu ChenKangcheng LiuChen WangShenghai YuanJianfei YangLihua XiePublished in: IEEE Robotics Autom. Lett. (2024)
Keyphrases
- visual odometry
- camera pose
- autonomous navigation
- pose estimation
- long range
- depth images
- ego motion
- kalman filtering
- position and orientation
- position information
- sparse representation
- camera motion
- structure from motion
- simultaneous localization and mapping
- feature points
- d objects
- extended kalman filter
- optical flow
- range data
- real time
- bundle adjustment
- point correspondences
- dynamic environments
- mobile robot
- computer vision