Review of visual odometry algorithm

Ci Wenyan1,2
Huang Yingping1
Hu Xing1
1. School of Optical-Electrical & Computer Engineering, University of Shanghai for Science & Technology, Shanghai 200093, China
2. School of Electric Power Engineering, Nanjing Normal University Taizhou College, Taizhou Jiangsu 225300, China

Abstract

Visual odometry(VO) estimates the pose of a mobile robot by analyzing the image flow captured by the equipped cameras. In order to analyze the development of VO algorithms, this paper reviewed the related technologies of VO and the up-to-date research state combined with some advanced VO systems. Firstly, this paper described the concept and the evolution of VO, and introduced the mathematical description and the classification of VO. Then, it analyzed the key technologies of VO in details, including feature selection, motion estimation and drift reduction. In addition, it also introduced the latest deep learning based VO. At last, it discussed the existing problems and prospected the development trend of VO.

Foundation Support

国家自然科学基金资助项目(61374197)
国家教育部博士点基金资助项目(20133120110006)
泰州市科技支撑计划(社会发展)资助项目(TS201701)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2018.05.0346
Publish at: Application Research of Computers Printed Article, Vol. 36, 2019 No. 9
Section: Survey
Pages: 2561-2568
Serial Number: 1001-3695(2019)09-001-2561-08

Publish History

[2019-09-05] Printed Article

Cite This Article

慈文彦, 黄影平, 胡兴. 视觉里程计算法研究综述 [J]. 计算机应用研究, 2019, 36 (9): 2561-2568. (Ci Wenyan, Huang Yingping, Hu Xing. Review of visual odometry algorithm [J]. Application Research of Computers, 2019, 36 (9): 2561-2568. )

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