• Flow Separation for Fast and Robust Stereo Odometry 

      Kaess, Michael; Ni, Kai; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-05)
      Separating sparse flow provides fast and robust stereo visual odometry that deals with nearly degenerate situations that often arise in practical applications.We make use of the fact that in outdoor situations different ...
    • Stereo Tracking and Three-Point/One-Point Algorithms - A Robust Approach in Visual Odometry 

      Ni, Kai; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-10)
      In this paper, we present an approach of calculating visual odometry for outdoor robots equipped with a stereo rig. Instead of the typical feature matching or tracking, we use an improved stereo-tracking method that ...