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Real Time Monocular Visual Odometry Using Hybrid Features and Distance Ratio for Scale Estimation
2018
International Journal on Advanced Science, Engineering and Information Technology
Real-time dead reckoning navigation is important for supplying information on the current position of an autonomous mobile robot to complete its task, especially in certain areas such as hazardous and GPS-denied areas. Monocular visual odometry is a good choice as it is one of the dead reckoning navigation methods, which only uses a single camera. For real-time task, visual odometry requires fast feature extraction without ignoring its accuracy. Therefore, we propose the usage of a hybrid
doi:10.18517/ijaseit.8.5.3247
fatcat:57mefktrnbh6teqkkyrn64oipa