ICP stereo visual odometry for wheeled vehicles based on a 1DOF motion prior

• Main Authors: Jiang, Yanhua, Chen, Huiyan, Xiong, Guangming, Scaramuzza, Davide
• Format: Conference Object
• Language: English
• Published: Institute of Electrical and Electronics Engineers 2014
• Subjects: Department of Informatics; 000 Computer science; knowledge & systems; Devon Island
• Online Access: https://www.zora.uzh.ch/id/eprint/125456/; https://www.zora.uzh.ch/id/eprint/125456/1/ICRA14_Jiang.pdf; https://doi.org/10.5167/uzh-125456; https://doi.org/10.1109/ICRA.2014.6906914

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...