Robust Monocular Edge Visual Odometry through Coarse-to-Fine Data Association.
Xiaolong WuPatricio A. VelaCédric PradalierPublished in: IROS (2020)
Keyphrases
- visual odometry
- coarse to fine
- data association
- simultaneous localization and mapping
- multiscale
- multiresolution
- particle filter
- multi sensor
- autonomous navigation
- long range
- mobile robot
- image registration
- object detection
- motion model
- visual tracking
- kalman filter
- ego motion
- object tracking
- dynamic programming
- image sequences
- multiple objects
- target tracking
- depth images
- field of view
- mobile robotics
- image segmentation
- particle filtering
- markov random field
- indoor environments
- high resolution
- feature extraction