Filtering 2D-3D Outliers by Camera Adjustment for Visual Odometry.
Ran DuanDanda Pani PaudelChih-Yung WenPeng LuPublished in: IEEE Trans. Instrum. Meas. (2023)
Keyphrases
- visual odometry
- ego motion
- inertial measurement unit
- autonomous navigation
- long range
- camera pose
- field of view
- depth images
- pose estimation
- kalman filtering
- position information
- stereo camera
- real time
- camera motion
- missing data
- optical flow
- three dimensional
- vision system
- structure from motion
- image registration
- feature points
- simultaneous localization and mapping
- d scene
- camera parameters
- closed form solutions
- range data
- flow field
- urban environments
- depth information
- multiple cameras
- robust estimation
- position and orientation
- moving camera
- bundle adjustment