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Visual odometry in mobile robots
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE, 2011The paper presents an application of visual odometry, through reconstruction of the path of a mobile robot, using a stereoscopic camera system. The scale invariant feature transformation algorithm (SIFT), is used to process the images and locate keypoints in a 3D euclidian coordinates space.
Jaime Delgado +2 more
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A Structureless Approach for Visual Odometry
2018 IEEE Intelligent Vehicles Symposium (IV), 2018A local bundle adjustment is an important proce- dure to improve the accuracy of a visual odometry solution. However, it is computationally very expensive as it jointly optimize all the poses of cameras and locations of map points. To reduce the computational complexity of a local bundle adjustment, the state-of-the-art algorithms [1]–[3] were proposed
Chih-Chung Chou +2 more
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Dynamic Attention-based Visual Odometry
2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW), 2020This paper proposes a dynamic attention-based visual odometry framework (DAVO), a learning-based VO method, for estimating the ego-motion of a monocular camera. DAVO dynamically adjusts the attention weights on different semantic categories for different motion scenarios based on optical flow maps. These weighted semantic categories can then be used to
Xin-Yu Kuo +3 more
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A Framework for Fast and Robust Visual Odometry
IEEE Transactions on Intelligent Transportation Systems, 2017Knowledge of the ego-vehicle’s motion state is essential for assessing the collision risk in advanced driver assistance systems or autonomous driving. Vision-based methods for estimating the ego-motion of vehicle, i.e., visual odometry, face a number of challenges in uncontrolled realistic urban environments.
Meiqing Wu +2 more
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AIP Conference Proceedings, 2011
Visual odometry refers to tracking the motion of a body using an onboard vision system. Practical visual odometry systems combine the complementary accuracy characteristics of vision and inertial measurement units. The Mars Exploration Rovers, Spirit and Opportunity, used this type of visual odometry.
Julian L. Center +4 more
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Visual odometry refers to tracking the motion of a body using an onboard vision system. Practical visual odometry systems combine the complementary accuracy characteristics of vision and inertial measurement units. The Mars Exploration Rovers, Spirit and Opportunity, used this type of visual odometry.
Julian L. Center +4 more
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Multi-objective Visual Odometry
2018Visual odometry (VO) has been extensively studied in the last decade. Despite a variety of implementation details, the proposed approaches share the same principle - a minimisation of a carefully chosen energy function. In this paper we review four commonly adopted energy models including perspective, epipolar, rigid, and photometric alignments, and ...
Hsiang-Jen Chien +3 more
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Maritime radar odometry inspired by visual odometry
2023 26th International Conference on Information Fusion (FUSION), 2023Henrik D. Flemmen +4 more
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2017 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2017
The aim of this paper is to estimate the ego-motion of an RGB-D camera in dynamic environments. A semi-direct motion estimation pipeline is modified for the RGB-D camera. In order to avoid the impact of dynamic objects, a new mapping method based on scoring mechanism is proposed, which can effectively remove feature points on dynamic objects and ...
Dongsheng Yang 0007 +4 more
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The aim of this paper is to estimate the ego-motion of an RGB-D camera in dynamic environments. A semi-direct motion estimation pipeline is modified for the RGB-D camera. In order to avoid the impact of dynamic objects, a new mapping method based on scoring mechanism is proposed, which can effectively remove feature points on dynamic objects and ...
Dongsheng Yang 0007 +4 more
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Proceedings of the 2004 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2004. CVPR 2004., 2004
David Nistér +2 more
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David Nistér +2 more
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Semantic-Direct Visual Odometry
IEEE Robotics and Automation Letters, 2022Yaoqi Bao +3 more
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