Quantitative Evaluation of Stereo Visual Odometry for Autonomous Vessel Localisation in Inland Waterway Sensing Applications.
Thomas KriechbaumerKim BlackburnToby P. BreckonOliver K. HamiltonMónica Rivas CasadoPublished in: Sensors (2015)
Keyphrases
- quantitative evaluation
- visual odometry
- autonomous navigation
- mobile robot
- dynamic environments
- ground truth
- ego motion
- long range
- path planning
- real time
- kalman filtering
- sensor networks
- simultaneous localization and mapping
- position information
- depth images
- optical flow
- mobile robotics
- multi camera
- extended kalman filter