Visual Odometry Using a Homography Formulation with Decoupled Rotation and Translation Estimation Using Minimal Solutions

Banglei Guan, P. Vasseur, C. Demonceaux, F. Fraundorfer

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Original languageEnglish
Title of host publication2018 IEEE International Conference on Robotics and Automation (ICRA)
Pages2320-2327
Number of pages8
ISBN (Electronic)978-1-5386-3081-5
DOIs
Publication statusPublished - 1 May 2018

Keywords

  • distance measurement
  • estimation theory
  • image matching
  • matrix algebra
  • motion estimation
  • pose estimation
  • robot vision
  • decoupled rotation
  • optimal inlier set
  • histogram voting
  • RANSAC step
  • KITTI data set
  • road driving scenarios
  • homography formulation
  • visual odometry
  • exhaustive search
  • motion hypothesis
  • translation estimation
  • dominant ground plane
  • Estimation
  • Visual odometry
  • Mathematical model
  • Cameras
  • Histograms
  • Gravity
  • Motion estimation

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