PAS: Visual odometry with Perspective Alignment Search

Abstract

Visual odometry is typically formulated as a descriptor-based image feature tracking problem, followed by outlier rejection and simultaneous estimation of the scene structure and camera motion. We propose a fundamentally different formulation for the stereo case: a multi-scale search over pose to estimate the transformation that best aligns two sparse point… (More)
DOI: 10.1109/IROS.2014.6942688

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