A Practical Map Needs Direct Visual Odometry - Juniper Publishers

A Practical Map Needs Direct Visual Odometry in Juniper in Robotics & Automation Engineering Journal (RAEJ)

Visual odometry (VO) is the process of estimating the ego-motion of an agent sequentially (e.g. vehicle, human, and robot) using only the input of single or multiple cameras attached to it. VO plays an important role in Simultaneous Localization and Mapping (SLAM), which has been widely applied in many fields. The development of VO would greatly promote the transition of visual mapping and navigation to the industry. This paper focuses on direct methods and aims to summarize recent direct algorithms from technical views. Image representation and frame matching strategy are the two key components of VO. This paper is organized based on these two aspects. A qualitative analysis of existing work is then presented. This paper simultaneously serves as a position and tutorial paper.

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