Robust RGB-D visual odometry based on edges and points.

Erliang Yao Hexin Zhang Hui Xu Haitao Song Guoliang Zhang

Published in: Robotics Auton. Syst. (2018)

Keyphrases

visual odometry
depth images
motion estimation
long range
indoor environments
autonomous navigation
computer vision
high quality
point sets
depth information
robust estimation
kalman filtering
ego motion