Solving Monocular Visual Odometry Scale Factor with Adaptive Step Length Estimates for Pedestrians Using Handheld Devices.
Nicolas AntignyHideaki UchiyamaMyriam ServièresValérie RenaudinDiego ThomasRin-Ichiro TaniguchiPublished in: Sensors (2019)
Keyphrases
- visual odometry
- scale factor
- ego motion
- autonomous navigation
- position information
- motion parameters
- kalman filter
- simultaneous localization and mapping
- focal length
- camera pose
- depth images
- image sequences
- field of view
- optical flow
- motion estimation
- least squares
- real time
- point correspondences
- urban environments
- camera motion
- ground plane
- augmented reality
- pose estimation
- calibration method
- camera calibration
- structure from motion
- mobile robot
- flow field
- range data