A Detailed Description of Direct Stereo Visual Odometry Based on Lines.
Thomas HolzmannFriedrich FraundorferHorst BischofPublished in: VISIGRAPP (Revised Selected Papers) (2016)
Keyphrases
- visual odometry
- autonomous navigation
- long range
- kalman filtering
- ego motion
- position information
- depth images
- simultaneous localization and mapping
- line segments
- optical flow
- stereo images
- path planning
- conditional random fields
- hough transform
- mobile robot
- image pairs
- range data
- stereo vision
- stereo camera
- closed form
- kalman filter
- image sequences