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Visual Odometry Using Stereo Vision ビジュアルオドメトリ

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Uploaded by on May 19, 2010

6DOF visual odometry using stereo vision. Working at 30fps. We used Shi-Tomasi's method to find corners from camera image and used Lucas-Kanade method for computing optical flow to track these corners. Using RANSAC for outlier removal and hypothesis calculation for later non-linear least square minimization by Levenberg-Marquardt algorithm, we are able to compute the motion between two sequential frames with high accuracy.

ステレオビジョンを用いてビジュアルオドメトリを製作しました。30fpsで動作しています。
未だ未完成の為、ジャイロオドメトリなどと比べた場合誤差があります。

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