Simultaneous Egomotion and Mapping - PowerPoint PPT Presentation

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Simultaneous Egomotion and Mapping

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Simultaneous Egomotion and Mapping. Louis-Philippe Morency. Vision Interface Group ... Handle large movements. Data association makes the algo unstable ... – PowerPoint PPT presentation

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Title: Simultaneous Egomotion and Mapping


1
Simultaneous Egomotion and Mapping
  • Louis-Philippe Morency
  • Vision Interface Group

2
Hybrid Tracking Technique
  • Feature tracking
  • Handle large movements
  • Data association makes the algo unstable
  • Normal Flow Constraint (Optical flow)
  • Sub-pixel accuracy
  • No data association problem
  • Handle small movements

3
Iterative Tracking
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