Robust and Efficient Estimation of Absolute Camera Pose for Monocular Visual Odometry.
Haoang LiWen ChenJi ZhaoJean-Charles BazinLei LuoZhe LiuYun-Hui LiuPublished in: ICRA (2020)
Keyphrases
- visual odometry
- camera pose
- relative pose
- structure from motion
- pose estimation
- long range
- autonomous navigation
- ego motion
- closed form solutions
- point correspondences
- feature points
- camera motion
- position and orientation
- depth images
- extended kalman filter
- bundle adjustment
- robust estimation
- focal length
- urban environments
- camera calibration
- single view
- image sequences
- kalman filtering
- real time
- simultaneous localization and mapping
- position information
- estimation error
- d scene
- multiple views
- line segments
- d objects
- computer vision