Direct Iterative Closest Point for real-time visual odometry

@article{Tykkala2011DirectIC,
  title={Direct Iterative Closest Point for real-time visual odometry},
  author={Tommi Tykkala and C{\'e}dric Audras and Andrew I. Comport},
  journal={2011 IEEE International Conference on Computer Vision Workshops (ICCV Workshops)},
  year={2011},
  pages={2050-2056}
}
In RGB-D sensor based visual odometry the goal is to estimate a sequence of camera movements using image and/or range measurements. Direct methods solve the problem by minimizing intensity error. In this work a depth map obtained from a RGB-D sensor is considered as a new measurement which is combined with a direct photometric cost function. The minimization of the bi-objective cost function produces 3D camera motion parameters which registers two 3D surfaces within a same coordinate system… CONTINUE READING
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