Visual Odometry

Visual Odometry

Visual Odometry의 forntend와 backend에 대해 알아봅시다.

☝️ Frontend

Part I

• Feature Method
• 2D-2D: Epipolar Geometry
• 3D-2D: PnP
• 3D-3D: Interactive Closest Point (ICP)

Part II

• Direct Method
• 2D Optical Flow

✌️ Backend

Part I

• State Estimation from Probabilistic Perspective
• Linear Systems and the Kalman Filter
• Nonlinear Systems and the EKF
• Bundle Adjustment and Graph Optimization

Part II

• Sliding Window Filter and Optimization
• Pose Graph Optimization

🗯️ ETC.

Loop Closure

• Loop Closure and Detection
• Bag of Words
• Structure of Dictionary
• Calculate the Similarity
• Discussion