Canny-VO: Visual Odometry with RGB-D Cameras based on Geometric 3D-2D Edge Alignment.
Yi ZhouHongdong LiLaurent KneipPublished in: CoRR (2020)
Keyphrases
- visual odometry
- simultaneous localization and mapping
- mobile robot
- depth images
- ego motion
- pose estimation
- depth information
- indoor environments
- dynamic environments
- particle filter
- kalman filter
- range data
- robot navigation
- optical flow
- path planning
- data association
- geometric constraints
- multiple cameras
- mobile robotics
- real environment
- image registration
- image processing