Robust Stereo Visual Odometry Based on Probabilistic Decoupling Ego-Motion Estimation and 3D SSC
The outliers caused by noise and mismatching severely restrict the precision of visual odometry.Moreover, the dynamic environment is also a crucial element that decreases the robustness of the systems.This paper Plein air - Femme - Chaussures - Bottes isolees presents a robust stereo visual odometry by decoupled ego-motion estimation based on proba