Closed Form Solution for the Scale Ambiguity Problem in Monocular Visual Odometry.
Isaac EstebanLeo DorstJudith DijkPublished in: ICIRA (1) (2010)
Keyphrases
- visual odometry
- relative pose
- closed form solutions
- camera pose
- autonomous navigation
- long range
- ego motion
- kalman filtering
- closed form
- position information
- depth images
- point correspondences
- dynamic environments
- range data
- line correspondences
- special case
- optical flow
- extended kalman filter
- image sequences
- simultaneous localization and mapping
- constrained optimization
- kalman filter
- stereo camera
- markov random field
- three dimensional