Visual Odometry
Visual Odometry
Visual Odometry의 forntend와 backend에 대해 알아봅시다.
☝️ Frontend
- Feature Method
- 2D-2D: Epipolar Geometry
- 3D-2D: PnP
- 3D-3D: Interactive Closest Point (ICP)
- Direct Method
- 2D Optical Flow
✌️ Backend
- State Estimation from Probabilistic Perspective
- Linear Systems and the Kalman Filter
- Nonlinear Systems and the EKF
- Bundle Adjustment and Graph Optimization
- Sliding Window Filter and Optimization
- Pose Graph Optimization
🗯️ ETC.
- Loop Closure and Detection
- Bag of Words
- Structure of Dictionary
- Calculate the Similarity
- Discussion