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 15 fr1/360序列旋转轨迹对比

Fig.15 Comparison of rotation trajectory of fr1/360 sequence