Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
A Performance Evaluation of Local Descriptors
IEEE Transactions on Pattern Analysis and Machine Intelligence
SURF: speeded up robust features
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part I
Fast stereo-based visual odometry for rover navigation
WSEAS Transactions on Circuits and Systems
Selecting feature detectors for accurate visual odometry
WSEAS Transactions on Circuits and Systems
Exploration with two cooperating mobile robots
WSEAS Transactions on Systems and Control
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Visual Odometry is the problem of estimating the path of a mobile platform by onboard passive vision only. Our approach relies on stereo vision and bundle adjustment of tracked feature points. In this work we propose a feature detector/descriptor which is a simplified form of other well known descriptors (SURF). Tests on real-world data show that our descriptors are effective for accurate path estimation, while being fast enough for use in tasks such as autonomous planetary exploration.