Visual odometry

Are we ready for autonomous driving? The KITTI vision benchmark suite

Andreas Geiger, P Lenz, R. Urtasun

Citations: 14348 • 2012

A benchmark for the evaluation of RGB-D SLAM systems

Jrgen Sturm, Nikolas Engelhard, Felix Endres, Wolfram Burgard, Daniel Cremers

Citations: 3918 • 2012

Keyframe-based visual–inertial odometry using nonlinear optimization

Stefan Leutenegger, Simon Lynen, Michael Bosse, Roland Siegwart, Paul Furgale

Citations: 1697 • 2014

Visual Odometry [Tutorial]

Davide Scaramuzza, Friedrich Fraundorfer

Citations: 1485 • 2011

StereoScan: Dense 3d reconstruction in real-time

Andreas Geiger, Julius Ziegler, Christoph Stiller

Citations: 1102 • 2011

DynaSLAM: Tracking, Mapping and Inpainting in Dynamic Scenes

Berta Bescos, José M. Fácil, Javier Civera, José Neira

Citations: 924 • 2018

3-D Mapping With an RGB-D Camera

Felix Endres, Jürgen Hess, Jürgen Sturm, Daniel Cremers, Wolfram Burgard

Citations: 822 • 2013

Two years of Visual Odometry on the Mars Exploration Rovers

Mark Maimone, Yang Cheng, Larry Matthies

Citations: 642 • 2007

Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera

Albert S. Huang, Abraham Bachrach, Peter Henry, Michael Krainin, Daniel Maturana, Dieter Fox, Nicholas Roy

Citations: 610 • 2016

Visual Odometry : Part II: Matching, Robustness, Optimization, and Applications

Friedrich Fraundorfer, Davide Scaramuzza

Citations: 606 • 2012

Robust odometry estimation for RGB-D cameras

Christian Kerl, Jürgen Sturm, Daniel Cremers

Citations: 553 • 2013

The event-camera dataset and simulator: Event-based data for pose estimation, visual odometry, and SLAM

Citations: 542 • 2017

Semi-dense Visual Odometry for a Monocular Camera

Jakob Engel, Jürgen Sturm, Daniel Cremers

Citations: 538 • 2013

KISS-ICP: In Defense of Point-to-Point ICP – Simple, Accurate, and Robust Registration If Done the Right Way

Ignacio Vizzo, Tiziano Guadagnino, Benedikt Mersch, Louis Wiesmann, Jens Behley, Cyrill Stachniss

Citations: 435 • 2023

The TUM VI Benchmark for Evaluating Visual-Inertial Odometry

David Schubert, Thore Goll, Nikolaus Demmel, Vladyslav Usenko, Jörg Stückler, Daniel Cremers

Citations: 435 • 2018

Fast iterative alignment of pose graphs with poor initial estimates

Eli Olson, John J. Leonard, Seth Teller

Citations: 427 • 2006

RHex: A Biologically Inspired Hexapod Runner

Richard Altendorfer, N. Moore, M. Buehler, H.B. Brown, D. McMordie, Uluc̣ Saranlı, Robert J. Full, Daniel E. Koditschek

Citations: 408 • 2001

A Benchmark Comparison of Monocular Visual-Inertial Odometry Algorithms for Flying Robots

Jeffrey Delmerico, Davide Scaramuzza

Citations: 395 • 2018

TartanAir: A Dataset to Push the Limits of Visual SLAM

Wenshan Wang, Delong Zhu, Xiangwei Wang, Yaoyu Hu, Yuheng Qiu, Chen Wang, Yafei Hu, Ashish Kapoor, Sebastian Scherer

Citations: 365 • 2020

Large-Scale Visual Odometry for Rough Terrain

Kurt Konolige, Motilal Agrawal, Joan Solà

Citations: 362 • 2010