Odometry-Vision-Based Ground Vehicle Motion Estimation With SE(2)-Constrained SE(3) Poses

@article{Zheng2018OdometryVisionBasedGV,
  title={Odometry-Vision-Based Ground Vehicle Motion Estimation With SE(2)-Constrained SE(3) Poses},
  author={Fan Zheng and Hengbo Tang and Yingtian Liu},
  journal={IEEE Transactions on Cybernetics},
  year={2018},
  volume={49},
  pages={2652-2663}
}
This paper focuses on the motion estimation problem of ground vehicles using odometry and monocular visual sensors. While the keyframe-based batch optimization methods become the mainstream approach in mobile vehicle localization and mapping, the keyframe poses are usually represented by SE(3) in vision-based methods or SE(2) in methods based on range scanners. For a ground vehicle, this paper proposes a new SE(2)-constrained SE(3) parameterization of its poses, which can be easily achieved in… CONTINUE READING

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