Visual odometry

@article{Nistr2004VisualO,
  title={Visual odometry},
  author={David Nist{\'e}r and Oleg Naroditsky and James R. Bergen},
  journal={Proceedings of the 2004 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2004. CVPR 2004.},
  year={2004},
  volume={1},
  pages={I-I}
}
We present a system that estimates the motion of a stereo head or a single moving camera based on video input. The system operates in real-time with low delay and the motion estimates are used for navigational purposes. The front end of the system is a feature tracker. Point features are matched between pairs of frames and linked into image trajectories at video rate. Robust estimates of the camera motion are then produced from the feature tracks using a geometric hypothesize-and-test… CONTINUE READING
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