Performance evaluation of feature detection and matching in stereo visual odometry.
Yunliang JiangYunxi XuYong LiuPublished in: Neurocomputing (2013)
Keyphrases
- feature detection
- visual odometry
- keypoints
- autonomous navigation
- long range
- ego motion
- scale space
- object recognition
- detection algorithm
- detection method
- image features
- preprocessing
- feature matching
- position information
- image matching
- simultaneous localization and mapping
- matching algorithm
- depth images
- image analysis
- camera pose
- three dimensional
- range data
- computer vision
- disparity map
- stereo images
- stereo camera
- stereo matching
- feature points
- multi camera
- stereo vision
- vision system
- feature vectors
- multiscale