Unsupervised monocular visual odometry with decoupled camera pose estimation.
Lili LinWeisheng WangWan LuoLesheng SongWenhui ZhouPublished in: Digit. Signal Process. (2021)
Keyphrases
- visual odometry
- camera pose estimation
- camera pose
- pose estimation
- structure from motion
- position and orientation
- bundle adjustment
- point correspondences
- feature points
- long range
- urban environments
- camera motion
- single view
- autonomous navigation
- focal length
- closed form solutions
- depth images
- camera calibration
- computer vision
- ego motion
- semi supervised
- camera parameters
- position information
- optical flow
- line segments
- simultaneous localization and mapping
- mobile robot
- viewpoint
- vision system
- stereo camera
- geometric constraints
- human body
- motion analysis
- point sets
- closed form