Robust scale estimation for monocular visual odometry using structure from motion and vanishing points.
Johannes GraterTobias SchwarzeMartin LauerPublished in: Intelligent Vehicles Symposium (2015)
Keyphrases
- structure from motion
- visual odometry
- camera pose
- focal length
- vanishing points
- ego motion
- image sequences
- bundle adjustment
- camera motion
- camera calibration
- robust estimation
- camera parameters
- single view
- autonomous navigation
- missing data
- pose estimation
- point cloud
- computer vision
- optical flow
- line segments
- position information
- closed form solutions
- field of view
- feature points
- ground plane
- multi view
- depth images
- straight line
- point correspondences
- scale space
- three dimensional
- urban environments
- closed form
- viewpoint