Monocular Outlier Detection for Visual Odometry


In this paper, we propose an optimization scheme to detect outliers in a visual odometry pipeline that is purely based on the optical flow of one monocular camera without requiring information about depth. First, we review different optical flow error measures and uncover the different sensitivity changes of the endpoint error for optical flow to the… (More)
DOI: 10.1109/IVS.2017.7995805

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