Line-based visual odometry using local gradient fitting.
Junxin LuZhijun FangYongbin GaoJieyu ChenPublished in: J. Vis. Commun. Image Represent. (2021)
Keyphrases
- visual odometry
- autonomous navigation
- long range
- ego motion
- kalman filtering
- depth images
- position information
- least squares
- line segments
- simultaneous localization and mapping
- camera pose
- extended kalman filter
- stereo camera
- robust estimation
- real time
- single view
- camera parameters
- kalman filter
- dynamic environments
- feature points
- mobile robot
- optical flow