Real-Time Monocular Visual Odometry for On-Road Vehicles with 1-Point RANSAC.
Davide ScaramuzzaFriedrich FraundorferRoland SiegwartPublished in: Dynamic Maps (2010)
Keyphrases
- visual odometry
- road vehicles
- autonomous navigation
- long range
- camera pose
- real time
- ego motion
- depth images
- kalman filtering
- feature points
- position information
- simultaneous localization and mapping
- point correspondences
- traffic scenes
- mobile robot
- robust estimation
- particle filtering
- viewpoint
- depth information
- range data
- field of view
- kalman filter
- object detection