An optimal algorithm for approximate nearest neighbor searching fixed dimensions
Journal of the ACM (JACM)
Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
Two-View Geometry Estimation Unaffected by a Dominant Plane
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 1 - Volume 01
RANSAC for (Quasi-)Degenerate data (QDEGSAC)
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
A RANSAC-based approach to model fitting and its application to finding cylinders in range data
IJCAI'81 Proceedings of the 7th international joint conference on Artificial intelligence - Volume 2
Image and Vision Computing
How to localize humanoids with a single camera?
Autonomous Robots
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Separating sparse flow provides fast and robust stereo visual odometry that deals with nearly degenerate situations that often arise in practical applications. We make use of the fact that in outdoor situations different constraints are provided by close and far structure, where the notion of close depends on the vehicle speed. The motion of distant features determines the rotational component that we recover with a robust two-point algorithm. Once the rotation is known, we recover the transiational component from close features using a robust one-point algorithm. The overall algorithm is faster than estimating the motion in one step by a standard RANSAC-based three-point algorithm. And in contrast to other visual odometry work, we avoid the problem of nearly degenerate data, under which RANSAC is known to return inconsistent results. We confirm our claims on data from an outdoor robot equipped with a stereo rig.