Abstract
Visual Odometry is the process of estimating the movement of a (stereo) camera through its environment by matching point features between pairs of consecutive image frames. No prior knowledge of the scene nor the motion is necessary. In this work, we present a visual odometry approach using a specialized method of Sparse Bundle Adjustment. We show experimental results that proof our approach to be a feasible method for estimating motion in unstructured outdoor environments.
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Sünderhauf, N., Konolige, K., Lacroix, S., Protzel, P. (2006). Visual Odometry Using Sparse Bundle Adjustment on an Autonomous Outdoor Vehicle. In: Levi, P., Schanz, M., Lafrenz, R., Avrutin, V. (eds) Autonome Mobile Systeme 2005. Informatik aktuell. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-30292-1_20
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DOI: https://doi.org/10.1007/3-540-30292-1_20
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