Globally-Optimal Inlier Maximization for Relative Pose Estimation Under Planar Motion

Planar motion constraint occurs in visual odometry (VO) and SLAM for Automated Guided Vehicles (AGVs) or mobile robots in general. Conventionally, two-point solvers can be nested to RANdom SAmple Consensus to reject outliers in real data, but the performance descends when the ratio of outliers goes...

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Detalles Bibliográficos
Autores principales: Liu, Haotian, Chen, Guang, Liu, Yinlong, Liang, Zichen, Zhang, Ruiqi, Knoll, Alois
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2022
Materias:
Neuroscience
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8927540/
https://www.ncbi.nlm.nih.gov/pubmed/35308310
http://dx.doi.org/10.3389/fnbot.2022.820703

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8927540/
https://www.ncbi.nlm.nih.gov/pubmed/35308310
http://dx.doi.org/10.3389/fnbot.2022.820703

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