NTR 44490: Visual odometry using fast stereo matching and clique detection
نویسنده
چکیده
We describe a visual odometry algorithm for estimating frame-to-frame camera motion from successive stereo image pairs. This algorithm differs from most visual odometry algorithms in two key respects: it makes no prior assumptions about camera motion, and (2) it operates on dense disparity images (computed by a separate stereo algorithm). As a consequence, the algorithm is robust in the presence of large camera motions (where the overlap between successive images is small), and is very fast (since it leverages the results from the dense stereo computation).
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