A Binocular MSCKF-Based Visual Inertial Odometry System Using LK Optical Flow.
Guangqiang LiLei YuShumin FeiPublished in: J. Intell. Robotic Syst. (2020)
Keyphrases
- optical flow
- inertial sensors
- binocular disparity
- lucas kanade
- motion estimates
- image sequences
- visual motion
- sensor fusion
- motion estimation
- computer vision
- stereo vision
- feature tracking
- visual information
- multiscale
- mobile robot
- position and orientation
- optical flow estimation
- least squares
- motion tracking
- depth perception
- moving objects
- visual odometry
- visual features
- flow field
- motion field
- stereo matching
- d scene
- motion model