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Real-time depth enhanced monocular odometry
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems
Visual odometry can be augmented by depth information such as provided by RGB-D cameras, or from lidars associated with cameras. However, such depth information can be limited by the sensors, leaving large areas in the visual images where depth is unavailable. Here, we propose a method to utilize the depth, even if sparsely available, in recovery of camera motion. In addition, the method utilizes depth by triangulation from the previously estimated motion, and salient visual features for whichdoi:10.1109/iros.2014.6943269 dblp:conf/iros/ZhangKS14 fatcat:noh6wgwaqrd5dkhncolrrj4jrm