Robust Direct Visual Odometry Estimation for a Monocular Camera Under Rotations.
Annamalai LakshmiFaheema AGJDipti DeodharePublished in: IEEE Robotics Autom. Lett. (2018)
Keyphrases
- visual odometry
- monocular camera
- ego motion
- robust estimation
- autonomous navigation
- long range
- extended kalman filter
- kalman filtering
- position information
- depth images
- optical flow
- estimation process
- range data
- multibody
- estimation error
- simultaneous localization and mapping
- state estimation
- image sequences
- mobile robot
- camera motion
- estimation accuracy
- camera pose
- kalman filter
- real time
- pose estimation
- point correspondences
- motion blur