Challenges in Monocular Visual Odometry: Photometric Calibration, Motion Bias and Rolling Shutter Effect

Monocular visual odometry (VO) and simultaneous localization and mapping (SLAM) have seen tremendous improvements in accuracy, robustness and efficiency, and have gained increasing popularity over recent years. Nevertheless, not so many discussions have been carried out to reveal the influences of three very influential yet easily overlooked aspects: photometric calibration, motion bias and rolling shutter effect... (read more)

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