基于改进Census变换的单目视觉里程计

蔺志伟,李奇敏,汪显宇

Monocular visual odometry based on improved Census transform

Zhi-wei LIN,Qi-min LI,Xian-yu WANG

图 11 MH_03序列中的黑暗场景

Fig.11 Dark scene in MH_03 sequence