Lighting-Invariant Visual Odometry using Lidar Intensity Imagery and Pose Interpolation.
Hang DongTimothy D. BarfootPublished in: FSR (2012)
Keyphrases
- visual odometry
- camera pose
- lidar data
- pose estimation
- urban environments
- aerial imagery
- high resolution
- autonomous navigation
- depth images
- point cloud
- ego motion
- long range
- structure from motion
- kalman filtering
- viewpoint
- d objects
- position information
- camera motion
- urban areas
- feature points
- computer vision
- digital elevation models
- simultaneous localization and mapping
- image data
- position and orientation
- lighting conditions
- aerial images
- elevation data
- focal length
- range data
- field of view
- closed form solutions
- single view
- camera parameters
- depth information
- dynamic environments
- three dimensional
- real time