Edge-based Visual Odometry with Stereo Cameras using Multiple Oriented Quadtrees
Changhyeon Kim,Junha Kim,H. Jin Kim,Changhyeon Kim,Junha Kim,H. Jin Kim
We propose an efficient edge-based stereo visual odometry (VO) using multiple quadtrees created according to image gradient orientations. To characterize edges, we classify them into eight orientation groups according to their image gradient directions. Using the edge groups, we construct eight quadtrees and set overlapping areas belonging to adjacent quadtrees for robust and efficient matching. F...
