Visual Odometry through Appearance- and Feature-Based Method with Omnidirectional Images

<table>(a) Example of an experiment using the data set 3 and the feature-based method, using <svg height="10.9125" id="M135" style="vertical-align:-0.17555pt" version="1.1" viewbox="0 0 15.75 10.9125" width="15.75" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,10.9125)">
<g transform="translate(72,-63.27)">
<text transform="matrix(1,0,0,-1,-71.95,63.5)">
<tspan style="font-size: 12.50px; " x="0" y="0">2</tspan>
<tspan style="font-size: 12.50px; " x="6.2515001" y="0">0</tspan>
</text>
</g>
</g>
</svg> matched points. (b) RMS error and step time versus the number of matched points using the feature-based method. (c) <svg height="10.325" id="M136" style="vertical-align:-0.0pt" version="1.1" viewbox="0 0 13.4125 10.325" width="13.4125" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,10.325)">
<g transform="translate(72,-63.74)">
<text transform="matrix(1,0,0,-1,-71.95,63.79)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑋</tspan>
</text>
</g>
</g>
</svg>, <svg height="10.325" id="M137" style="vertical-align:-0.0pt" version="1.1" viewbox="0 0 11.6125 10.325" width="11.6125" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,10.325)">
<g transform="translate(72,-63.74)">
<text transform="matrix(1,0,0,-1,-71.95,63.79)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑌</tspan>
</text>
</g>
</g>
</svg>, and <svg height="10.7375" id="M138" style="vertical-align:-0.13794pt" version="1.1" viewbox="0 0 8.3125 10.7375" width="8.3125" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,10.7375)">
<g transform="translate(72,-63.41)">
<text transform="matrix(1,0,0,-1,-71.95,63.6)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝜃</tspan>
</text>
</g>
</g>
</svg> error for each step of the visual odometry estimation process using the feature-based method using <svg height="10.9125" id="M139" style="vertical-align:-0.17555pt" version="1.1" viewbox="0 0 15.75 10.9125" width="15.75" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,10.9125)">
<g transform="translate(72,-63.27)">
<text transform="matrix(1,0,0,-1,-71.95,63.5)">
<tspan style="font-size: 12.50px; " x="0" y="0">4</tspan>
<tspan style="font-size: 12.50px; " x="6.2515001" y="0">0</tspan>
</text>
</g>
</g>
</svg> matched points.</table>

Journal of Robotics

fig14

Figure 14

Figure 14: Visual Odometry through Appearance- and Feature-Based Method with Omnidirectional Images 