Low-Drift Visual Odometry in Structured Environments by Decoupling Rotational and Translational Motion.
Pyojin KimBrian ColtinH. Jin KimPublished in: ICRA (2018)
Keyphrases
- translational motion
- visual odometry
- structured environments
- ego motion
- motion parameters
- stereo vision
- motion model
- motion field
- motion estimation
- field of view
- long range
- optical flow
- camera motion
- autonomous vehicles
- image sequences
- stereo camera
- point correspondences
- robust estimation
- depth information
- d scene
- kalman filter
- flow field
- depth images
- motion compensation
- computer vision
- multi camera
- real time
- velocity field
- moving objects
- high quality