Visual Odometry Using Sparse Bundle Adjustment on an Autonomous Outdoor Vehicle.
Niko SünderhaufKurt KonoligeSimon LacroixPeter ProtzelPublished in: AMS (2005)
Keyphrases
- bundle adjustment
- visual odometry
- autonomous navigation
- camera pose
- structure from motion
- camera motion
- ego motion
- point correspondences
- multi view
- camera parameters
- least squares
- mobile robot
- path planning
- image sequences
- dynamic environments
- long range
- feature points
- maximum likelihood
- position information
- surveillance system
- motion parameters
- motion blur
- missing data
- computer vision
- ground plane
- depth images
- kalman filtering
- optical flow
- moving objects
- video sequences
- simultaneous localization and mapping
- camera calibration