High-performance visual odometry with two-stage local binocular BA and GPU.
Wei LuZhiyu XiangJilin LiuPublished in: Intelligent Vehicles Symposium (2013)
Keyphrases
- visual odometry
- graphics processing units
- autonomous navigation
- ego motion
- real time
- stereo camera
- long range
- depth images
- simultaneous localization and mapping
- kalman filtering
- position information
- vision system
- stereo images
- stereo vision
- stereo matching
- mobile robot
- low resolution
- state space
- optical flow
- range data
- dynamic environments
- video sequences