Binocular visual odometry algorithm and experimentation research for the lunar rover
Wei Wu · Scientia Sinica Informationis · 2011
In this paper we introduce the design and implementation of a binocular stereo based visual odometry.The major modules of the implementation are illustrated thoroughly.Methods based on different feature detection and matching algorithms are compared with each other.By examining the experimental results with the ground truth data attained from Total Station,we show that our algorithms are efficient and effiective.