A 2-point pose estimation algorithm for monocular visual odometry of ground vehicles.
Yanyan GaoJian ChenKaixiang ZhangBingxi JiaPublished in: IROS (2017)
Keyphrases
- visual odometry
- estimation algorithm
- camera pose
- pose estimation
- position and orientation
- structure from motion
- autonomous navigation
- point correspondences
- ego motion
- camera motion
- feature points
- bundle adjustment
- long range
- maximum likelihood
- urban environments
- position information
- single view
- focal length
- computationally efficient
- camera calibration
- depth images
- d objects
- closed form solutions
- kalman filtering
- camera parameters
- computer vision
- ground vehicles
- simultaneous localization and mapping
- image sequences