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Document type:
Zeitschriftenaufsatz 
Author(s):
Liu, Haotian; Chen, Guang; Liu, Yinlong; Liang, Zichen; Zhang, Ruiqi; Knoll, Alois 
Title:
Globally-Optimal Inlier Maximization for Relative Pose Estimation Under Planar Motion 
Abstract:
Planar motion constraint occurs in visual odometry (VO) and SLAM for Automated Guided Vehicles (AGVs) or mobile robots in general. Conventionally, two-point solvers can be nested to RANdom SAmple Consensus to reject outliers in real data, but the performance descends when the ratio of outliers goes high. This study proposes a globally-optimal Branch-and-Bound (BnB) solver for relative pose estimation under general planar motion, which aims to figure out the globally-optimal solution even under a...    »
 
Journal title:
Frontiers in Neurorobotics 
Year:
2022 
Journal volume:
16 
Print-ISSN:
1662-5218