Odometry is the process of incrementally estimating the position of a robot or device. In the case of a wheeled robot, it uses wheel motion or inertial measurement using tools such as gyroscopes or accelerometers to estimate the robot's position by summing over wheel rotations. Using visual odometry (VO), we can estimate the odometry of cameras using only image sequences by continuously estimating camera motion.
A major use of VO is in autonomous robots like drones, where gyroscopes and accelerometers are not robust enough for motion estimation. However, there are several assumptions and challenges in using VO:
- Firstly, objects in the scene for the camera should be static. While the camera captures a sequence of the image, the only moving object should be the camera itself.
- Moreover, during the estimation of VO, if there are significant illumination changes...
