Towards using sparse bundle adjustment for robust stereo odometry in outdoor terrain
Niko Sünderhauf, Peter Protzel · QUT ePrints (Queensland University of Technology) · 2006
Stereo odometry is the process of estimating the movement of a stereo camera through its environment by matching point features between pairs of consecutive image frames. No prior knowledge of the scene nor the motion is necessary. In this work, we present a stereo odometry approach using a specialized method of Sparse Bundle Adjustment. We show experimental results with simulated and real-world data that prove our approach to be a feasible method for estimating motion in unstructured outdoor environments.