Accurate and Robust Stereo Direct Visual Odometry for Agricultural Environment
Tao Yu Junwei Zhou Liangliang Wang Shengwu Xiong Tao Yu Junwei Zhou Liangliang Wang Shengwu Xiong
Vision-based localization and mapping in the agricultural environment is challenging due to the unstructured scene with unstable features, illumination variations, bumpy roads, and dynamic environmental objects. To address these challenges, we propose an accurate and robust stereo direct visual odometry system with modifications on Stereo-DSO. We firstly select some well-matched static stereo poin...