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Learning and Searching Methods for Robust, Real-Time Visual Odometry.

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Figure

Figure 2.1: Illustration of the ideal pinhole camera model. Relative to the scene, the image appears flipped on the image plane as a consequence of light passing through the pinhole camera aperture
Figure 2.2: A distorted camera image and an equivalent image with distortion removed.
Figure 2.5: Color and corresponding dense disparity image from Scharstein et al. [16].
Figure 3.3: Illustrations of frequency-domain filter constraints for 8 × 8 filters. Coefficients rendered in black are suppressed (forced to zero)
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Outline

Learning a feature detector Randomly-sampled filters Summary Method Related work Evaluation using a mobile ground robot Evaluation on the KITTI dataset Directions for future research

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