Visual Odometry Using Sparse Bundle Adjustment on an Autonomous Outdoor Vehicle

Visual Odometry is the process of estimating the movement of a (stereo) camera through its environment by matching point features between pairs of consecutive image frames. No prior knowledge of the scene nor the motion is necessary. In this work, we present a visual odometry approach using a specialized method of Sparse Bundle Adjustment. We show experimental results that proof our approach to be a feasible method for estimating motion in unstructured outdoor environments.

• Type: Conference
• Year: 2005
• Where: AMS
• Authors: Niko Sünderhauf, Kurt Konolige, Simon Lacroix, Peter Protzel
• Keywords: AMS 2005, Consecutive Image Frames, Visual Odometry, Visual Odometry Approach