Dense, Auto-Calibrating Visual Odometry from a Downward-Looking Camera.
Jacek ZienkiewiczRobert LukierskiAndrew J. DavisonPublished in: BMVC (2013)
Keyphrases
- visual odometry
- ego motion
- focal length
- camera pose
- inertial measurement unit
- autonomous navigation
- long range
- field of view
- camera calibration
- kalman filtering
- depth images
- camera motion
- optical flow
- camera parameters
- position information
- simultaneous localization and mapping
- image sequences
- stereo camera
- mobile robot
- pose estimation
- kalman filter
- structure from motion
- calibration method
- position and orientation
- single camera
- bundle adjustment
- multi view
- vision system
- video camera
- dynamic scenes
- stereo images
- image pairs
- extended kalman filter
- high resolution
- d scene