Fast Techniques for Monocular Visual Odometry

@inproceedings{Mirabdollah2015FastTF,
  title={Fast Techniques for Monocular Visual Odometry},
  author={Mohammad Hossein Mirabdollah and B{\"a}rbel Mertsching},
  booktitle={GCPR},
  year={2015}
}
In this paper, fast techniques are proposed to achieve real time and robust monocular visual odometry. We apply an iterative 5point method to estimate instantaneous camera motion parameters in the context of a RANSAC algorithm to cope with outliers efficiently. In our method, landmarks are localized in space using a probabilistic triangulation method utilized to enhance the estimation of the last camera pose. The enhancement is performed by multiple observations of landmarks and minimization of… CONTINUE READING