Robust Stereo Visual Odometry Using Improved RANSAC-Based Methods for Mobile Robot Localization

In this paper, we present a novel approach for stereo visual odometry with robust motion estimation that is faster and more accurate than standard RANSAC (Random Sample Consensus). Our method makes improvements in RANSAC in three aspects: first, the hypotheses are preferentially generated by samplin...

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Detalles Bibliográficos
Autores principales: Liu, Yanqing, Gu, Yuzhang, Li, Jiamao, Zhang, Xiaolin
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2017
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5677260/
https://www.ncbi.nlm.nih.gov/pubmed/29027935
http://dx.doi.org/10.3390/s17102339

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5677260/
https://www.ncbi.nlm.nih.gov/pubmed/29027935
http://dx.doi.org/10.3390/s17102339

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