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Visual Odometry [Tutorial]

IEEE Robotics & Automation Magazine, 2011
Visual odometry (VO) is the process of estimating the egomotion of an agent (e.g., vehicle, human, and robot) using only the input of a single or If multiple cameras attached to it. Application domains include robotics, wearable computing, augmented reality, and automotive. The term VO was coined in 2004 by Nister in his landmark paper.
Davide Scaramuzza 0001, Friedrich Fraundorfer   +1 more
openaire   +1 more source

AN AUTOMATIC KEY-FRAME SELECTION METHOD FOR VISUAL ODOMETRY BASED ON THE IMPROVED PWC-NET [PDF]

The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, 2020
In order to quick response to the rapid changes of mobile platforms in complex situations such as speedy changing direction or camera shake, visual odometry/visual simultaneous localization and mapping (VO/VSLAM) always needs a high frame rate vision ...
Y. Chen, L. Yan, X. Lin
doaj   +1 more source

KEYFRAME-BASED VISUAL-INERTIAL SLAM USING NONLINEAR OPTIMIZATION [PDF]

, 2013
The fusion of visual and inertial cues has become popular in robotics due to the complementary nature of the two sensing modalities. While most fusion strategies to date rely on filtering schemes, the visual robotics community has recently turned to non ...
Konolige, Kurt, Rabaud, V, Stefan Leutenegger, Chli, Margarita, Kurt Konolige, Roland Siegwart, Chli, Margarita; id_orcid, Siegwart, Roland, Furgale, P, Chli, M, Paul Furgale, Vincent Rabaud, Leutenegger, S, Margarita Chli, Leutenegger, Stefan, Furgale, Paul, Rabaud, Vincent, Leutenegger, S., Konolige, K, Siegwart, R   +19 more
core   +1 more source

STELVIO: Exploring Factor Graphs for a Robust Stereo-Visual-LiDAR-Inertial Odometry [PDF]

The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
Accurate and robust odometry is critical for mobile mapping and autonomous navigation, particularly in complex environments where single-sensor approaches struggle.
P. Trybała, L. Morelli, S. Facenda, A. V. Razzino, A. V. Razzino, F. Remondino   +5 more
doaj   +1 more source

RGB-D Indoor Plane-based 3D-Modeling using Autonomous Robot [PDF]

The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, 2014
3D model of indoor environments provide rich information that can facilitate the disambiguation of different places and increases the familiarization process to any indoor environment for the remote users.
N. Mostofi, A. Moussa, M. Elhabiby, N. El-Sheimy   +3 more
doaj   +1 more source

DIRECT SPARSE VISUAL ODOMETRY WITH STRUCTURAL REGULARITIES FOR LONG CORRIDOR ENVIRONMENTS [PDF]

The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, 2020
Simultaneous Localization and Mapping are the key requirements for many practical applications of robotics. However, traditional visual approaches rely on features extracted from textured surfaces, so they barely work well in indoor scenes (e.g.
F. Cheng, C. Liu, H. Wu, M. Ai, M. Ai
doaj   +1 more source

Monocular Semidirect Visual Odometry for Large-Scale Outdoor Localization

IEEE Access, 2019
To achieve large-scale outdoor real-time localization, a semidirect visual odometry method for a monocular camera is proposed. In this method, the performance of the features from the accelerated segment test (FAST) algorithm is improved to detect ...
Qi Naixin, Yang Xiaogang, Li Chuanxiang, Li Xiaofeng, Zhang Shengxiu, Cao Lijia   +5 more
doaj   +1 more source

Visually Mediated Odometry in Honeybees [PDF]

Journal of Experimental Biology, 1997
ABSTRACT The ability of honeybees to gauge the distances of short flights was investigated under controlled laboratory conditions where a variety of potential odometric cues such as flight duration, energy consumption, image motion, airspeed, inertial navigation and landmarks were manipulated.
Srinivasan, M., Zhang, S., Bidwell, N.
openaire   +4 more sources

Adaptive Monocular Visual–Inertial SLAM for Real-Time Augmented Reality Applications in Mobile Devices

Sensors, 2017
Simultaneous localization and mapping (SLAM) is emerging as a prominent issue in computer vision and next-generation core technology for robots, autonomous navigation and augmented reality.
Jin-Chun Piao, Shin-Dug Kim
doaj   +1 more source

Evolution of Visual Odometry Techniques

CoRR, 2018
With rapid advancements in the area of mobile robotics and industrial automation, a growing need has arisen towards accurate navigation and localization of moving objects. Camera based motion estimation is one such technique which is gaining huge popularity owing to its simplicity and use of limited resources in generating motion path.
Shashi Poddar, Rahul Kottath, Vinod Karar   +2 more
openaire   +2 more sources