Real-time Quadrifocal Visual Odometry

@article{Comport2010RealtimeQV,
  title={Real-time Quadrifocal Visual Odometry},
  author={Andrew I. Comport and Ezio Malis and Patrick Rives},
  journal={The International Journal of Robotics Research},
  year={2010},
  volume={29},
  pages={245 - 266}
}
In this paper we describe a new image-based approach to tracking the six-degree-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 minimization approach is employed which directly uses all grayscale information available within the stereo pair (or stereo region) leading to very… 
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