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This article describes an algorithm that provides visual odometry estimates from sequential pairs of RGBD images. The key contribution of this article on RGBD odometry is that it provides both an odometry estimate and a covariance for the odometry parameters in real-time via a representative covariance matrix. Accurate, real-time parameter covariance is essential to effectively fuse odometry measurements...
In planetary exploration space missions, motion measurement of a vehicle on the surface of a planet is a very important task. The main contribution of this work is an experimental comparison among visual odometry systems using lenses with three different focal lengths (an ultra wide angle, a medium wide angle and a telephoto lens). The comparison is performed with a rigorous uncertainty analysis....
This paper presents an embedded vision system based on reconfigurable hardware (FPGA) and two CMOS cameras to perform stereo image processing and 3D mapping for autonomous navigation. We propose an EKF based visual SLAM and sparse feature detectors to achieve 6D localization of the vehicle in non flat scenarios. The system can operate regardless of the odometry information from the vehicle since visual...
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