Publication: ICP stereo visual odometry for wheeled vehicles based on a 1DOF motion prior
ICP stereo visual odometry for wheeled vehicles based on a 1DOF motion prior
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Jiang, Y., Chen, H., Xiong, G., & Scaramuzza, D. (2014, June 7). ICP stereo visual odometry for wheeled vehicles based on a 1DOF motion prior. Proceedings of the IEEE International Conference on Robotics and Automation. IEEE International Conference on Robotics and Automation (ICRA), Hong Kong. https://doi.org/10.1109/ICRA.2014.6906914
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In this paper, we propose a novel, efficient stereo visual-odometry algorithm for ground vehicles moving in outdoor environments. To avoid the drawbacks of computationally-expensive outlier-removal steps based on random-sample schemes, we use a single-degree-of-freedom kinematic model of the vehicle to initialize an Iterative Closest Point (ICP) algorithm that is utilized to select high-quality inliers. The motion is then computed incrementally from the inliers using a standard linear 3D-to-2D pose-estimation method without any additi
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Creators (Authors)
- Jiang, Yanhua
- Chen, Huiyan
- Xiong, Guangming
- Scaramuzza, Davide
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Jiang, Y., Chen, H., Xiong, G., & Scaramuzza, D. (2014, June 7). ICP stereo visual odometry for wheeled vehicles based on a 1DOF motion prior. Proceedings of the IEEE International Conference on Robotics and Automation. IEEE International Conference on Robotics and Automation (ICRA), Hong Kong. https://doi.org/10.1109/ICRA.2014.6906914
