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We present a novel approach for improving the accuracy of the egomotion recovered from rectified stereo-scopic video. The main idea of the proposed approach is to correct the camera calibration by exploiting the known groundtruth motion. The correction is described by a discrete deformation field over a rectangular superpixel lattice covering the whole(More)
—In this work, we present a novel dataset for assessing the accuracy of stereo visual odometry. The dataset has been acquired by a small-baseline stereo rig mounted on the top of a moving car. The groundtruth is supplied by a consumer grade GPS device without IMU. Synchronization and alignment between GPS readings and stereo frames are recovered after the(More)
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