Stereo Visual Odometry with Deep Learning-Based Point and Line Feature Matching Using an Attention Graph Neural Network.
Shenbagaraj KannapiranNalin BendapudiMing-Yuan YuDevarth ParikhSpring BermanAnkit VoraGaurav PandeyPublished in: IROS (2023)
Keyphrases
- feature matching
- deep learning
- visual odometry
- neural network
- graph matching
- image pairs
- camera pose
- feature points
- image matching
- stereo pair
- matching algorithm
- object recognition
- machine learning
- long range
- ego motion
- image registration
- pattern recognition
- depth images
- geometric constraints
- computer vision
- stereo images
- epipolar geometry
- stereo camera
- optical flow
- stereo vision
- structure from motion
- image sequences
- focal length
- disparity map
- point correspondences
- depth map