Appearance-guided monocular omnidirectional visual odometry for outdoor ground vehicles

IEEE Transactions on Robotics

Volumn 24, Issue 5, 2008, Pages 1015-1026

  Scaramuzza, Davide ^a   Siegwart, Roland ^a  

^a ETH ZURICH   (Switzerland)

Author keywords

Appearance; Homography; Omnidirectional camera; Scale invariant feature transform (SIFT) features; Vehicle ego motion estimation; Visual odometry

Indexed keywords

CAMERAS; COMPUTER VISION; GROUND VEHICLES; IMAGE ENHANCEMENT; IMAGE MATCHING; MOTION ESTIMATION; VIDEO CAMERAS;

APPEARANCE; HOMOGRAPHY; OMNIDIRECTIONAL CAMERA; SCALE-INVARIANT FEATURE TRANSFORM (SIFT) FEATURES; VISUAL ODOMETRY;

VEHICLES;

EID: 56149108571     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2008.2004490     Document Type: Article

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