SOFT2: Stereo Visual Odometry for Road Vehicles Based on a Point-to-Epipolar-Line Metric.
Igor CvisicIvan MarkovicIvan PetrovicPublished in: IEEE Trans. Robotics (2023)
Keyphrases
- epipolar lines
- visual odometry
- stereo images
- epipolar geometry
- feature points
- ego motion
- fundamental matrix
- camera pose
- stereo camera
- image pairs
- structure from motion
- range data
- camera motion
- real time
- point correspondences
- stereo pair
- image sequences
- depth images
- bundle adjustment
- multi camera
- motion estimation
- disparity map