Scale Estimation for Monocular Visual Odometry Using Reliable Camera Height.
Chih-Han MaChih-Ming HsuJen-Hsiang ChouPublished in: SMC (2022)
Keyphrases
- visual odometry
- inertial measurement unit
- ego motion
- autonomous navigation
- visual sensor
- estimation process
- extended kalman filter
- long range
- robust estimation
- camera pose
- field of view
- kalman filtering
- depth images
- stereo camera
- optical flow
- camera motion
- real time
- mobile robot
- position information
- single camera
- simultaneous localization and mapping
- structure from motion
- d scene
- range data
- vision system
- least squares
- estimation accuracy
- kalman filter
- pose estimation
- point cloud
- motion field
- depth information