Visual Odometry in Stereo Endoscopy by Using PEaRL to Handle Partial Scene Deformation.
Miguel LourençoDanail StoyanovJoão Pedro BarretoPublished in: AE-CAI (2014)
Keyphrases
- visual odometry
- ego motion
- depth images
- stereo camera
- d scene
- autonomous navigation
- camera pose
- long range
- field of view
- depth map
- velocity field
- multi camera
- dynamic scenes
- position information
- kalman filtering
- video sequences
- depth information
- image sequences
- three dimensional
- optical flow
- simultaneous localization and mapping
- bundle adjustment
- single image
- camera motion
- stereo images
- mobile robot
- image registration
- input image
- vision system
- real scenes
- robust estimation
- camera parameters
- structure from motion
- real time
- flow field
- stereo vision
- stereo pair
- moving camera
- kalman filter
- motion parameters
- point correspondences