Visual odometry
Citations
4,091 citations
Cites methods from "Visual odometry"
...When the system is first started, we employ the five-point stereo algorithm of [27] to initialise the map in a manner similar to [20, 18, 9]....
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...While bundle adjustment has long been a proven method for offline Structure-from-Motion (SfM), we are more directly inspired by its recent successful applications to real-time visual odometry and tracking [20, 18, 9]....
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3,772 citations
Cites background from "Visual odometry"
...[39] presented a real-time system based very much on the standard structure from motion methodology of frame-to-frame matching of large numbers of point features which was able to recover instantaneous motions impressively but again had no ability to rerecognize features after periods of neglect and, therefore, would lead inevitably to rapid drift in augmented reality or localization....
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1,828 citations
Additional excerpts
...2012 Visual odometry Scaramuzza and Fraundofer [115, 274]...
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1,371 citations
Cites background or methods from "Visual odometry"
...[1], there is an advantage in using the 2-D-to-2-D and 3-D-to-2-D methods compared to the 3-D-to-3-D method for motion computation....
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...[1], motion estimation from 3-D-to-2-D correspondences is more accurate than from 3-D-to-3-D correspondences because it minimizes the image reprojection error (10) instead of the 3-D-to-3-D feature position error (9)....
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...[1], they used the random sample consensus (RANSAC) RANSAC [18] in the least-squares motion estimation step for outlier rejection....
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...In the first category are the works by the authors in [1], [24], [25], [27], and [30]–[32]....
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...The term VO was coined in 2004 by Nister in his landmark paper [1]....
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1,223 citations
Cites background from "Visual odometry"
...…many techniques for 3D mapping using range scans (Thrun et al. 2000; Triebel and Burgard 2005; May et al. 2009; Newman et al. 2009), stereo cameras (Nister et al. 2004; Akbarzadeh et al. 2006; Konolige and Agrawal 2008), monocular cameras (Clemente et al. 2007), and even unsorted collections of…...
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...2009), stereo cameras (Nister et al. 2004; Akbarzadeh et al. 2006; Konolige and Agrawal 2008), monocular cameras (Clemente et al....
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References
23,396 citations
19,881 citations
"Visual odometry" refers methods in this paper
...The survivor features in each bucket are found with the quickselect algorithm [19] based on the strength of the corner response....
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14,282 citations
13,993 citations
"Visual odometry" refers methods in this paper
...In each frame, we detect Harris corners [7]....
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10,727 citations