Person:
Dellaert,
Frank
Publication Search Results
Flow Separation for Fast and Robust Stereo Odometry
Person:
Dellaert,
Frank
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Separating sparse flow provides fast and robust
stereo visual odometry that deals with nearly degenerate
situations that often arise in practical applications.We make use
of the fact that in outdoor situations different constraints are
provided by close and far structure, where the notion of close
depends on the vehicle speed. The motion of distant features
determines the rotational component that we recover with a
robust two-point algorithm. Once the rotation is known, we
recover the translational component from close features using
a robust one-point algorithm. The overall algorithm is faster
than estimating the motion in one step by a standard RANSAC-based
three-point algorithm. And in contrast to other visual
odometry work, we avoid the problem of nearly degenerate
data, under which RANSAC is known to return inconsistent
results. We confirm our claims on data from an outdoor robot
equipped with a stereo rig.