Robust Real-Time Visual Odometry with a Single Camera and an IMU.
Laurent KneipMargarita ChliRoland SiegwartPublished in: BMVC (2011)
Keyphrases
- single camera
- visual odometry
- ego motion
- monocular camera
- inertial measurement unit
- field of view
- real time
- partial occlusion
- autonomous navigation
- multiple cameras
- long range
- multi camera
- kalman filtering
- depth images
- position information
- simultaneous localization and mapping
- moving camera
- object tracking
- image sequences
- video surveillance
- extended kalman filter
- vision system
- optical flow