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Robust Visual Odometry and Dynamic Scene Modelling

Zhang, Jun


Image-based estimation of camera trajectory, known as visual odometry (VO), has been a popular solution for robot navigation in the past decade due to its low-cost and widely applicable properties. The problem of tracking self-motion as well as motion of objects in the scene using information from a camera is known as multi-body visual odometry and is a challenging task. The performance of VO is heavily sensitive to poor imaging conditions (i.e., direct sunlight, shadow and image blur), which...[Show more]

CollectionsOpen Access Theses
Date published: 2021
Type: Thesis (PhD)
DOI: 10.25911/5SQX-6Y18


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