Fast relocalization for visual odometry using binary features.
Jeremy StraubSebastian HilsenbeckGeorg SchrothRobert HuitlAndreas MöllerEckehard G. SteinbachPublished in: ICIP (2013)
Keyphrases
- binary features
- visual odometry
- camera pose
- autonomous navigation
- long range
- ego motion
- kalman filtering
- structure from motion
- depth images
- bundle adjustment
- feature points
- position information
- pose estimation
- point correspondences
- focal length
- urban environments
- camera motion
- closed form solutions
- real time
- single view
- kalman filter
- simultaneous localization and mapping
- position and orientation
- dynamic environments
- hidden markov models
- reinforcement learning