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Accurate and Robust Scale Recovery for Monocular Visual Odometry Based on Plane Geometry.
Rui Tian
Yunzhou Zhang
Delong Zhu
Shiwen Liang
Sonya Coleman
Dermot Kerr
Published in:
CoRR (2021)
Keyphrases
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visual odometry
autonomous navigation
long range
three dimensional
ego motion
depth images
image sequences
optical flow
kalman filtering
simultaneous localization and mapping
real time
pose estimation
range data
position information
computer vision
robust estimation
geometric constraints