Improved Omnidirectional Odometry for a View-Based Mapping Approach

Improved Omnidirectional Odometry for a View-Based Mapping Approach

This work presents an improved visual odometry using omnidirectional images. The main purpose is to generate a reliable prior input which enhances the SLAM (Simultaneous Localization and Mapping) estimation tasks within the framework of navigation in mobile robotics, in detriment of the internal odo...

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Bibliographic Details
Main Authors: David Valiente, Arturo Gil, Óscar Reinoso, Miguel Juliá, Mathew Holloway
Format: Article
Language:English
Published: MDPI AG 2017-02-01
Series:Sensors
Subjects:
visual odometry
omnidirectional images
visual SLAM
feature matching
mapping
Online Access:http://www.mdpi.com/1424-8220/17/2/325

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