Visual odometry

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Visual Odometry:
  • The process of incrementally estimating your position and orientation with respect to an initial reference frames by tracking visual features.
  • Refers to estimate not only the distance traveled, but the entire trajectory of a moving robot.
  • Monocular Visual Odometry & Stereo Visual Odometry. (Stereo case is usually much more robust and concrete but restricted by the distance between objects. )
Difference between visual SLAM (Simultaneous Localization and Mapping):
  • Visual SLAM: produces also map of features 
  • Visual odometry: focuses on the camera trajectory.
Steps (Stereo):
Key: Perfectly feature point matching

Reference:
  1. Visual Odmetry from scratch - A tutorial for beginners
  2. Monocular Visual Odometry using OpenCV
  3. Introduction to VO
  4. Real-time Stereo VO
  5. Multiple View Geometry
  6. Data base for testing algorithm
Source code:


Think:

 1. How to shorten the processing time ? (Paper above: 20ms on a 512x384 image.)
2. Novel idea for robust estimation (With high-speed camera)?

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