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이상일(서울대학교) 김표진(서울대학교) 김창현(서울대학교) 이현범(서울대학교) 김현진(서울대학교)

DOI : 10.5302/J.ICROS.2017.17.0032

이 논문을 2019-05-28 에 이용했습니다.

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초록

This paper surveys visual odometry technology for unmanned systems. Visual odometry is one of the most important technologies to implement vision-based navigation; therefore, it is widely applied to unmanned systems in recent years. Visual odometry estimates a trajectory and a pose of the system, and it could be classified into the following: 1) stereo vs. monocular, 2) feature-based or indirect vs. direct, and 3) linear vs. nonlinear based on the number of cameras, information attributes, and the optimization process, respectively. In the paper, we discuss the state-of-the-art issues of research activities related to visual odometry and summarize future direction for the research.

목차

Abstract
I. 서론
II. 비주얼 오도메트리
III. 최신 연구 동향
IV. 결론
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