Improving the accuracy of visual odometry from point features

Authors:
Aldo Cumani
Affiliations:
Istituto Nazionale di Ricerca Metrologica, Torino, Italy
Venue:
VIS '10 Proceedings of the 3rd WSEAS international conference on Visualization, imaging and simulation
Year:
2010

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Abstract

This work deals with the improvement of the performances of a fast Hessian-based feature detector/descriptor, developed by us, in the context of path estimation from passive stereo vision (Visual Odometry). It is shown how the path estimation accuracy could be improved at the expense of a modest increase in computations. Tests on real data confirm that the improvement is actually non negligible.