Robust Monocular Edge Visual Odometry through Coarse-to-Fine Data Association
Xiaolong Wu,Patricio A. Vela,Cédric Pradalier,Xiaolong Wu,Patricio A. Vela,Cédric Pradalier
This work describes a monocular visual odometry framework, which exploits the best attributes of edge features for illumination-robust camera tracking, while at the same time ameliorating the performance degradation of edge mapping. In the front-end, an ICP-based edge registration provides robust motion estimation and coarse data association under lighting changes. In the back-end, a novel edge-gu...
