Pose Graph optimization for Unsupervised Monocular Visual Odometry.
Yang LiYoshitaka UshikuTatsuya HaradaPublished in: ICRA (2019)
Keyphrases
- visual odometry
- camera pose
- long range
- autonomous navigation
- pose estimation
- ego motion
- depth images
- kalman filtering
- position information
- d objects
- range data
- semi supervised
- position and orientation
- simultaneous localization and mapping
- mobile robot
- image sequences
- structure from motion
- d scene
- real time
- robust estimation
- extended kalman filter
- single view
- urban environments
- focal length
- constrained optimization
- camera motion
- feature points
- object recognition
- computer vision