Stereo DSO: Large-Scale Direct Sparse Visual Odometry with Stereo Cameras

@article{Wang2017StereoDL,
  title={Stereo DSO: Large-Scale Direct Sparse Visual Odometry with Stereo Cameras},
  author={Rui Wang and Martin Schw{\"o}rer and Daniel Cremers},
  journal={2017 IEEE International Conference on Computer Vision (ICCV)},
  year={2017},
  pages={3923-3931}
}
We propose Stereo Direct Sparse Odometry (Stereo DSO) as a novel method for highly accurate real-time visual odometry estimation of large-scale environments from stereo cameras. It jointly optimizes for all the model parameters within the active window, including the intrinsic/extrinsic camera parameters of all keyframes and the depth values of all selected pixels. In particular, we propose a novel approach to integrate constraints from static stereo into the bundle adjustment pipeline of… CONTINUE READING
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