Visual odometry - A review of approaches

摘要

As the development of robot autonomous navigation, visual odometry gains more and more attention in the last few years. It can estimate the egomotion of a robot by analyzing the changes of the on-board camera view. This paper gives an overview of visual odometry and the development of its key technologies, such as feature detection, description and matching/tracking, camera pose estimation. The advantages and disadvantages of different methods are compared and the fundamental principles of them are described in this paper.