Monocular Visual Odometry for an Unmanned Sea-Surface Vehicle.
George TerzakisRiccardo PolvaraSanjay K. SharmaPhil F. CulverhouseRobert SuttonPublished in: CoRR (2017)
Keyphrases
- visual odometry
- sea surface
- autonomous vehicles
- autonomous navigation
- long range
- ego motion
- path planning
- depth images
- position information
- real time
- kalman filtering
- simultaneous localization and mapping
- range data
- field of view
- stereo camera
- camera motion
- image segmentation
- dynamic environments
- optical flow
- extended kalman filter
- image processing
- global positioning system
- three dimensional
- obstacle avoidance
- camera pose
- d scene