Fast Bi-Monocular Visual Odometry Using Factor Graph Sparsification.
César DebeunneJoan VallvéAlex TorresDamien VivetPublished in: IROS (2023)
Keyphrases
- visual odometry
- factor graphs
- message passing
- autonomous navigation
- graphical models
- long range
- belief propagation
- ego motion
- latent variables
- position information
- approximate inference
- kalman filtering
- depth images
- simultaneous localization and mapping
- markov random field
- optical flow
- least squares
- mobile robot
- camera pose
- image sequences
- maximum likelihood
- bayesian networks
- special case
- field of view
- image processing
- conditional random fields
- pose estimation
- dynamic environments