Continuous-Time Stereo Visual Odometry Based on Dynamics Model

Wang, Xin; Xue, Fei; Zhang, Yan; Dong, Wei; Wang, Qiuyuan; Zha, Hongbin

doi:10.1007/978-3-030-20876-9_25

Cited by 3 publications

(1 citation statement)

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“…The position for each snapshot is calculated using the parameters

. Subsequently, the map points are reprojected onto every snapshot, and the reprojection discrepancy

is reduced to ascertain the accurate path [ 25 ].…”

Section: Introductionmentioning

confidence: 99%

From Pixels to Precision: A Survey of Monocular Visual Odometry in Digital Twin Applications

Neyestani,

Picariello,

Ahmed

et al. 2024

Sensors

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This survey provides a comprehensive overview of traditional techniques and deep learning-based methodologies for monocular visual odometry (VO), with a focus on displacement measurement applications. This paper outlines the fundamental concepts and general procedures for VO implementation, including feature detection, tracking, motion estimation, triangulation, and trajectory estimation. This paper also explores the research challenges inherent in VO implementation, including scale estimation and ground plane considerations. The scientific literature is rife with diverse methodologies aiming to overcome these challenges, particularly focusing on the problem of accurate scale estimation. This issue has been typically addressed through the reliance on knowledge regarding the height of the camera from the ground plane and the evaluation of feature movements on that plane. Alternatively, some approaches have utilized additional tools, such as LiDAR or depth sensors. This survey of approaches concludes with a discussion of future research challenges and opportunities in the field of monocular visual odometry.

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“…The position for each snapshot is calculated using the parameters

. Subsequently, the map points are reprojected onto every snapshot, and the reprojection discrepancy

is reduced to ascertain the accurate path [ 25 ].…”

Section: Introductionmentioning

confidence: 99%