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Outdoor delayed-state visually augmented odometry

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Ila, Viorela Simona
Andrade-Cetto, JuanMés informacióMés informacióMés informació
Sanfeliu Cortés, AlbertoMés informacióMés informacióMés informació
Document typeConference report
Defense date2007
Publishers. n.
Rights accessOpen Access
All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder
Abstract
This paper presents an efficient approach to outdoor visually augmented odometry. The technique computes relative pose constraints via a robust least squares minimisation of 3D point correspondences, which are in turn obtained from the matching of SIFT features over two consecutive image pairs. Pose constraints are then used to build a history of pose estimates with and incremental delayed-state information filter. The efficiency of the approach resides on the exact sparseness of the delayed-state information form used.
CitationIla, Viorela; Andrade-Cetto, Juan; Sanfeliu, Alberto. "Outdoor delayed-state visually augmented odometry". A: 6th IFAC Symposium on Intelligent Autonomous Vehicles (IAV), Toulouse, França, 2007. s. n., 2007, p. 1-6. 
URIhttp://hdl.handle.net/2117/2749
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  • IRI - Institut de Robòtica i Informàtica Industrial, CSIC-UPC - Ponències/Comunicacions de congressos [463]
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  • VIS - Visió Artificial i Sistemes Intel·ligents - Ponències/Comunicacions de congressos [281]
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