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A review of monocular visual odometry
Visual Computer, 2019Monocular visual odometry provides more robust functions on navigation and obstacle avoidance for mobile robots than other visual odometries, such as binocular visual odometry, RGB-D visual odometry and basic odometry. This paper describes the problem of visual odometry and also determines the relationships between visual odometry and visual ...
Qian Huang, Chaozheng Zhu, Liu Jintao
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Cooperative Visual-Inertial Odometry
2021 IEEE International Conference on Robotics and Automation (ICRA), 2021This paper studies the problem of multi-robot cooperative visual-inertial localization where each robot is equipped with only a single camera and IMU. We develop two cooperative visual-inertial odometry (C-VIO) algorithms within the multi-state constraint Kalman filter (MSCKF) framework, in which each robot utilizes not only its own measurements but ...
Pengxiang Zhu +3 more
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Equivariant Visual Odometry in the Wild
2020 59th IEEE Conference on Decision and Control (CDC), 2020Visual Odometry is a core problem in robotics. Recent advances in equivariant systems theory, and the discovery of symmetries for the visual odometry problem, has provided a new perspective that is leading to new algorithms. This paper provides an overview of the geometry of visual odometry problem and an algorithm that results from this perspective.
Robert E. Mahony +5 more
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Visual Multimodal Odometry: Robust Visual Odometry in Harsh Environments
2018 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2018Ahstract- For autonomous localization and navigation, a robot's ego-motion estimation is fundamental. RGB camera-based visual odometry (VO) has proven to be a robust technique used to determine a robot's motion. In situations when direct sunlight, the absence of light or presence of dust as well as smoke make vision difficult, RGB cameras may not ...
Sebastian P. Kleinschmidt +1 more
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2021
Different from the feature method, the direct method is also another important approach in VO. Despite that it has not been the mainstream of VO, the direct method can compete with the feature method after years of development. In this chapter, we will introduce the principle of the direct method and implement its core algorithm.
Xiang Gao, Tao Zhang
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Different from the feature method, the direct method is also another important approach in VO. Despite that it has not been the mainstream of VO, the direct method can compete with the feature method after years of development. In this chapter, we will introduce the principle of the direct method and implement its core algorithm.
Xiang Gao, Tao Zhang
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2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM), 2018
Accurate visual odometry is essential for many fields such as robot navigation and autonomous driving. In this paper, we propose a novel panoramic visual odometry algorithm that is real-time, precise and robust. The main contributions of our work are a series of innovations that address the challenge of effective initialization and robust feature ...
Minjie Lin, Qixin Cao, Haoruo Zhang
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Accurate visual odometry is essential for many fields such as robot navigation and autonomous driving. In this paper, we propose a novel panoramic visual odometry algorithm that is real-time, precise and robust. The main contributions of our work are a series of innovations that address the challenge of effective initialization and robust feature ...
Minjie Lin, Qixin Cao, Haoruo Zhang
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On combining visual SLAM and visual odometry
2010 IEEE International Conference on Robotics and Automation, 2010Sequential monocular SLAM systems perform drift free tracking of the pose of a camera relative to a jointly estimated map of landmarks. To allow real-time operation in moderately sized environments, the map is kept quite spare with usually only tens of landmarks visible in each frame.
Brian Patrick Williams, Ian D. Reid 0001
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Visual odometry - A review of approaches
2015 IEEE International Conference on Information and Automation, 2015As the development of robot autonomous navigation, visual odometry gains more and more attention in the last few years. It can estimate the egomotion of a robot by analyzing the changes of the on-board camera view. This paper gives an overview of visual odometry and the development of its key technologies, such as feature detection, description and ...
Boxin Zhao, Tianjiang Hu, Lincheng Shen
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Practical Infrared Visual Odometry
IEEE Transactions on Intelligent Transportation Systems, 2016The use of cameras as a sensor for odometry estimation is an active research topic that has seen significant growth in recent years. Most methods, however, are only suitable for standard cameras that rely on reasonable lighting. An alternative to overcome low-light conditions is the use of thermal or long-wave infrared imaging.
Paulo Vinicius Koerich Borges +1 more
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Visual odometry and map correlation
Proceedings of the 2004 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2004. CVPR 2004., 2004In this paper we study how estimates of ego-motion based on feature tracking (visual odometry) can be improved using a rough (low accuracy) map of where the observer has been. We call the process of aligning the visual ego-motion with the map locations as map correlation.
Anat Levin, Richard Szeliski
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