Simultaneous Egomotion and Mapping

1
Simultaneous Egomotion and Mapping

• Louis-Philippe Morency
• Vision Interface Group

2
Hybrid Tracking Technique

• Feature tracking
• Handle large movements
• Data association makes the algo unstable
• Normal Flow Constraint (Optical flow)
• Sub-pixel accuracy
• No data association problem
• Handle small movements

3
Iterative Tracking