Robust Real-time RGB-D Visual Odometry in Dynamic Environments via Rigid Motion Model.
Sangil LeeClark Youngdong SonH. Jin KimPublished in: CoRR (2019)
Keyphrases
- dynamic environments
- visual odometry
- motion model
- autonomous navigation
- simultaneous localization and mapping
- multibody
- optical flow
- real time
- mobile robot
- particle filter
- motion estimation
- ego motion
- data association
- depth images
- motion field
- motion segmentation
- image sequences
- motion parameters
- indoor environments
- path planning
- real environment
- motion patterns
- motion analysis
- long range
- robust estimation
- pose estimation
- three dimensional
- computer vision
- particle filtering
- vision system