2020
Efficient Globally-Optimal Correspondence-Less Visual Odometry for Planar Ground Vehicles
ICRA 2020poster
The motion of planar ground vehicles is often non-holonomic, and as a result may be modelled by the 2 DoF Ackermann steering model. We analyse the feasibility of estimating such motion with a downward facing camera that exerts fronto-parallel motion with respect to the ground plane. This turns the m…