2025-5-25- 10
Home > Archive>Volume 13, Issue 3, 2021 >269-280. DOI:10.13878/j.cnki.jnuist.2021.03.002
PDF HTML XML Export Cite reminder
A survey of visual odometry
Author:
Clc Number:

TP24

  • Article
    • | |
  • Metrics
    • |
  • Reference
    • |
  • Related
    • |
  • Cited by
    • | |
  • Comments
    Abstract:

    Visual Odometry (VO),which is an important part of visual simultaneous localization and mapping technology,is mainly used for robot pose estimation and local map building through time series images captured by camera sensors.Known as the front end,VO has been widely used in many fields and achieved fruitful practical results,and it is of great significance for unmanned driving,autonomous drones,virtual reality,and augmented reality,etc.In this paper,we summarize the recent research results on the novel visual odometry technology based on introduction of various algorithms in the framework module of classical VO.According to their technical means,the novel methods are divided into two categories,including VO integrated with multiple sensors (take VIO as an example),and VO based on deep learning.The former improves the accuracy of VO by complementing the advantages of various sensors,while the latter is combined with deep learning network.Finally,the existing algorithms of visual odometry are compared,and the future development trend is forecasted based on the challenges faced by VO.

    Reference
    Related
    Cited by
Get Citation

HU Kai, WU Jiasheng, ZHENG Fei, ZHANG Yanwen, CHEN Xuechao, LU Ben. A survey of visual odometry[J]. Journal of Nanjing University of Information Science & Technology,2021,13(3):269-280

Copy
Share
Article Metrics
  • Abstract:
  • PDF:
  • HTML:
  • Cited by:
History
  • Received:November 13,2019
  • Online: June 25,2021
Article QR Code

Address：No. 219, Ningliu Road, Nanjing, Jiangsu Province

Postcode：210044

Phone：025-58731025