1-Point RANSAC for extended Kalman filtering: Application to real-time structure from motion and visual odometry.
Javier CiveraOscar G. GrasaAndrew J. DavisonJ. M. M. MontielPublished in: J. Field Robotics (2010)
Keyphrases
- visual odometry
- structure from motion
- kalman filtering
- camera pose
- kalman filter
- real time
- bundle adjustment
- feature points
- point correspondences
- particle filtering
- image sequences
- point cloud
- pose estimation
- computer vision
- extended kalman filter
- camera parameters
- missing data
- position and orientation
- camera motion
- autonomous navigation
- single view
- feature tracking
- dynamic programming
- high quality
- depth images
- ego motion
- three dimensional
- state estimation
- simultaneous localization and mapping
- position information
- mobile robot
- particle filter