Robust Real-time RGB-D Visual Odometry in Dynamic Environments via Rigid Motion Model.
Sangil LeeClark Youngdong SonH. Jin KimPublished in: IROS (2019)
Keyphrases
- dynamic environments
- visual odometry
- autonomous navigation
- motion model
- simultaneous localization and mapping
- multibody
- data association
- real time
- optical flow
- particle filter
- motion estimation
- motion parameters
- mobile robot
- ego motion
- depth images
- motion segmentation
- image sequences
- motion field
- real environment
- motion patterns
- path planning
- motion analysis
- indoor environments
- long range
- three dimensional
- visual tracking
- object tracking
- video sequences