Real-time Quadrifocal Visual Odometry

  title={Real-time Quadrifocal Visual Odometry},
  author={Andrew I. Comport and Ezio Malis and Patrick Rives},
  journal={I. J. Robotics Res.},
This paper describes a new image-based approach to tracking the 6 degrees of freedom trajectory of a stereo camera pair. The proposed technique estimates the pose and subsequently the dense pixel matching between temporal image pairs in a sequence by performing dense spatial matching between images of a stereo reference pair. In this way a minimisation approach is employed which directly uses all grey-scale information available within the stereo pair (or stereo region) leading to very robust… CONTINUE READING
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Accurate quadri-focal tracking for robust 3D visual odometry

  • Comport et al, A. 2007 Comport, E. Malis, P. Rives
  • In IEEE International Conference on Robotics and…
  • 2007

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