Performance evaluation of 1-point-RANSAC visual odometry

  title={Performance evaluation of 1-point-RANSAC visual odometry},
  author={Davide Scaramuzza},
  journal={J. Field Robotics},
Monocular visual odometry is the process of computing the egomotion of a vehicle purely from images of a single camera. This process involves extracting salient points from consecutive image pairs, matching them, and computing the motion using standard algorithms. This paper analyzes one of the most important steps toward accurate motion computation, which is outlier removal. The random sample consensus (RANSAC) has been established as the standard method for model estimation in the presence of… CONTINUE READING
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