Ground Plane based Absolute Scale Estimation for Monocular Visual Odometry.
Dingfu ZhouYuchao DaiHongdong LiPublished in: CoRR (2019)
Keyphrases
- visual odometry
- ground plane
- autonomous navigation
- ego motion
- long range
- extended kalman filter
- multi camera
- multiple cameras
- camera calibration
- depth images
- kalman filtering
- multiple views
- camera pose
- camera parameters
- simultaneous localization and mapping
- position information
- pose estimation
- robust estimation
- mobile robot
- optical flow
- real time
- image sequences
- dynamic environments
- geometric constraints
- multi view
- depth information
- field of view
- kalman filter
- markov random field
- single camera
- focal length
- camera views
- viewpoint
- light source