Exploiting motion priors in visual odometry for vehicle-mounted cameras with non-holonomic constraints.
Davide ScaramuzzaAndrea CensiKostas DaniilidisPublished in: IROS (2011)
Keyphrases
- visual odometry
- autonomous navigation
- ego motion
- mobile robot
- camera pose
- long range
- stereo camera
- multi camera
- motion planning
- position information
- ground plane
- image sequences
- optical flow
- simultaneous localization and mapping
- kalman filtering
- depth images
- multiple cameras
- real time
- camera motion
- camera views
- vision system
- camera calibration
- field of view
- space time
- single camera
- motion estimation
- motion analysis
- range data
- path planning
- human motion
- moving camera
- single view
- motion parameters
- motion detection
- video camera
- multiple views
- global positioning system
- bundle adjustment