Fast stereo visual odometry based on LK optical flow and ORB-SLAM2.
Chuanye TangXinwen ZhaoJianfeng ChenLong ChenYazhou ZhouPublished in: Multim. Syst. (2022)
Keyphrases
- visual odometry
- simultaneous localization and mapping
- optical flow
- ego motion
- autonomous navigation
- long range
- mobile robot
- kalman filtering
- depth images
- dynamic environments
- stereo camera
- kalman filter
- extended kalman filter
- position information
- real time
- camera pose
- image sequences
- robot navigation
- mobile robotics
- field of view
- range data
- multi camera
- motion blur
- stereo vision
- particle filter
- three dimensional
- motion parameters
- motion field
- camera motion
- depth map