Efficient Globally-Optimal Correspondence-Less Visual Odometry for Planar Ground Vehicles
Ling Gao,Junyan Su,Jiadi Cui,Xiangchen Zeng,Xin Peng,Laurent Kneip,Ling Gao,Junyan Su,Jiadi Cui,Xiangchen Zeng,Xin Peng,Laurent Kneip
The motion of planar ground vehicles is often non-holonomic, and as a result may be modelled by the 2 DoF Ackermann steering model. We analyse the feasibility of estimating such motion with a downward facing camera that exerts fronto-parallel motion with respect to the ground plane. This turns the motion estimation into a simple image registration problem in which we only have to identify a 2-para...
