Stereo DSO: Large-Scale Direct Sparse Visual Odometry with Stereo Cameras

ICCV 2017 Rui WangMartin SchwörerDaniel Cremers

We propose Stereo Direct Sparse Odometry (Stereo DSO) as a novel method for highly accurate real-time visual odometry estimation of large-scale environments from stereo cameras. It jointly optimizes for all the model parameters within the active window, including the intrinsic/extrinsic camera parameters of all keyframes and the depth values of all selected pixels... (read more)

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