Feature-matching and extended Kalman filter for stereo ego-motion estimation.
Haokun GengQinwen HuPublished in: IVCNZ (2013)
Keyphrases
- feature matching
- extended kalman filter
- visual odometry
- image pairs
- kalman filter
- kalman filtering
- stereo pair
- state estimation
- estimation accuracy
- image matching
- object recognition
- matching algorithm
- feature points
- image registration
- simultaneous localization and mapping
- stereo images
- particle filter
- particle filtering
- estimation process
- geometric constraints
- disparity map
- epipolar geometry
- stereo camera
- single image
- image processing
- stereo vision
- pairwise
- data association
- multiple views