Using Dense 3D Reconstruction for Visual Odometry Based on Structure from Motion Techniques

@inproceedings{Nascimento2016UsingD3,
  title={Using Dense 3D Reconstruction for Visual Odometry Based on Structure from Motion Techniques},
  author={Marcelo de Mattos Nascimento and Manuel Eduardo Loaiza Fern{\'a}ndez and Alberto Barbosa Raposo},
  booktitle={ISVC},
  year={2016}
}
Aim of intense research in the field computational vision, dense 3D reconstruction achieves an important landmark with first methods running in real time with millimetric precision, using RGBD cameras and GPUs. However, these methods are not suitable for low computational resources. The goal of this work is to show a method of visual odometry using regular cameras, without using a GPU. The proposed method is based on techniques of sparse Structure from Motion (SFM), using data provided by dense… 

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