Scale-Aware Monocular Visual Odometry and Extrinsic Calibration Using Vehicle Kinematics.
Changhyeon KimYoungseok JangJunha KimPyojin KimH. Jin KimPublished in: IEEE Trans. Intell. Transp. Syst. (2023)
Keyphrases
- visual odometry
- camera calibration
- camera parameters
- ego motion
- camera pose
- autonomous navigation
- long range
- inertial measurement unit
- stereo camera
- kalman filtering
- position information
- depth images
- d scene
- real time
- focal length
- simultaneous localization and mapping
- ground plane
- extended kalman filter
- multi view
- field of view
- scale space
- multiple cameras
- kalman filter
- structure from motion
- bundle adjustment
- image sequences
- dynamic environments
- pose estimation
- vision system
- motion estimation
- optical flow