ICP stereo visual odometry for wheeled vehicles based on a 1DOF motion prior.
Yanhua JiangHuiyan ChenGuangming XiongDavide ScaramuzzaPublished in: ICRA (2014)
Keyphrases
- visual odometry
- autonomous navigation
- ego motion
- mobile robot
- long range
- simultaneous localization and mapping
- position information
- real time
- path planning
- kalman filtering
- depth images
- stereo camera
- field of view
- optical flow
- pose estimation
- camera motion
- robust estimation
- point cloud
- range images
- dynamic environments
- extended kalman filter
- camera pose
- multi camera
- optic flow
- motion blur
- range data
- image sequences
- three dimensional