Real-time stereo visual odometry for autonomous ground vehicles

By Andrew Howard. 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008

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Autonomous flight in unstructured and unknown indoor environments (2009, methodology): “We must therefore obtain relative position estimates measurements by using either visua l odometry [17] or laser scan-matching [18, 19] algorithms.”
FAST-LIO: A Fast, Robust LiDAR-Inertial Odometry Package by Tightly-Coupled Iterated Kalman Filter (2020, background): “Visual (-inertial) odometry (VO), such as Stereo VO [1], [2] and Monocular VO [3], [4] are commonly used on mobile robots due to their lightweight and low-cost.”
Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera (2011, methodology): “The match score between two features is the sum-of-absolute differences (SAD) of their feature descriptors [17], which can be quickly computed using SIMD instructions such as Intel SSE2.”
Visual odometry based on stereo image sequences with RANSAC-based outlier rejection scheme (2010, methodology): “These approaches can be further separated into methods which either use feature matching (e.g., [13], [23], [24]) between consecutive images or feature tracking over a sequence of images (e.g., [7], [2], [14]).”
Visual-Inertial-Aided Navigation for High-Dynamic Motion in Built Environments Without Initial Conditions (2012, background): “The use of a stereo camera pair for SLAM [17], [18] or visual odometry [11] gives very promising results for this kind of application.”