Optimizing Camera Perspective for Stereo Visual Odometry.
Valentin PeretroukhinJonathan KellyTimothy D. BarfootPublished in: CRV (2014)
Keyphrases
- visual odometry
- ego motion
- inertial measurement unit
- autonomous navigation
- long range
- stereo camera
- camera pose
- field of view
- multi camera
- camera motion
- kalman filtering
- position information
- optical flow
- depth images
- simultaneous localization and mapping
- stereo vision
- image sequences
- viewpoint
- real time
- single camera
- structure from motion
- d scene
- feature points
- three dimensional
- camera views
- extended kalman filter
- mobile robot
- vision system
- robust estimation
- focal length
- single view
- multiple cameras
- stereo images
- range data