Ground-Plane-Based Absolute Scale Estimation for Monocular Visual Odometry.
Dingfu ZhouYuchao DaiHongdong LiPublished in: IEEE Trans. Intell. Transp. Syst. (2020)
Keyphrases
- visual odometry
- ground plane
- ego motion
- autonomous navigation
- extended kalman filter
- long range
- multi camera
- camera calibration
- multiple cameras
- depth images
- kalman filtering
- camera parameters
- position information
- camera pose
- kalman filter
- simultaneous localization and mapping
- light source
- multiple views
- field of view
- real time
- optical flow
- robust estimation
- multiple objects
- camera views
- dynamic environments
- stereo pair
- geometric constraints