博主github：https://github.com/MichaelBeechan
博主CSDN：https://blog.csdn.net/u011344545

代碼執行環境：Windows 8 + OpenCV3.0
https://github.com/MichaelBeechan/MyStereoLibviso2

Stereo visual odometry is a critical component for mobile robot navigation and safety. It estimates the ego-motion using stereo images frame by frame. In this paper, we demonstrate an approach of calculating visual odometry for indoor or outdoor robots(UGV) equipped with a stereo rig. Differ from others visual odometry, we use an improved stereo-tracking method that combines information from optical flow and stereo to estimate and control the current position of Unmanned Ground Vehicle. For feature matching, we employ the circle matching strategy in VISO-2. A high-accuracy navigation system is used to evaluate our results on challenging real-world video sequences. The experiment result indicates our approach is more accurate than other visual odometry method in accuracy and run-time.

總結

以上是生活随笔為你收集整理的视觉里程计 | OF-VO：Robust and Efficient Stereo Visual Odometry Using Points and Feature Optical Flow的全部內容，希望文章能夠幫你解決所遇到的問題。

如果覺得生活随笔網站內容還不錯，歡迎將生活随笔推薦給好友。