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Exploiting Structural Regularities and Beyond: Vision-based Localization and Mapping in Man-Made Environments

Zhou, Yi

Description

Image-based estimation of camera motion, known as visual odometry (VO), plays a very important role in many robotic applications such as control and navigation of unmanned mobile robots, especially when no external navigation reference signal is available. The core problem of VO is the estimation of the camera’s ego-motion (i.e. tracking) either between successive frames, namely relative pose estimation, or with respect to a global map, namely absolute pose...[Show more]

CollectionsOpen Access Theses
Date published: 2018
Type: Thesis (PhD)
URI: http://hdl.handle.net/1885/155255
DOI: 10.25911/5c4834e66bce8

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