METHOD AND APPARATUS FOR VISUAL ODOMETRY

摘要

A method and apparatus for visual odometry (e.g., for navigating a surrounding environment) is disclosed. In one embodiment a sequence of scene imagery is received (e.g., from a video camera or a stereo head) that represents at least a portion of the surrounding environment. The sequence of scene imagery is processed (e.g., in accordance with video processing techniques) to derive an estimate of a pose relative to the surrounding environment. This estimate may be further supplemented with data from other sensors, such as a global positioning system or inertial or mechanical sensors.