论文标题
视觉探子计量法及其在自动驾驶中的应用
A Review of Visual Odometry Methods and Its Applications for Autonomous Driving
论文作者
论文摘要
对自主驾驶应用程序的研究观察到近年来基于计算机视觉的方法的增加。为了开发基于视觉的系统的尝试，视觉进程通常被视为实现运动估计和自定位的关键要素，代替了车轮频仪或惯性测量。本文介绍了最近对与视觉进程有关的方法的评论，重点是自主驾驶。这篇综述涵盖了其单眼，立体和视觉惯性形式的视觉进程，单独向其介绍了与其应用相关的分析。讨论被吸引以概述当前研究状态中所面临的问题，并总结所审查的作品。本文以未来的工作建议结束，以帮助视觉探测器中的前瞻性发展。
The research into autonomous driving applications has observed an increase in computer vision-based approaches in recent years. In attempts to develop exclusive vision-based systems, visual odometry is often considered as a key element to achieve motion estimation and self-localisation, in place of wheel odometry or inertial measurements. This paper presents a recent review to methods that are pertinent to visual odometry with an emphasis on autonomous driving. This review covers visual odometry in their monocular, stereoscopic and visual-inertial form, individually presenting them with analyses related to their applications. Discussions are drawn to outline the problems faced in the current state of research, and to summarise the works reviewed. This paper concludes with future work suggestions to aid prospective developments in visual odometry.
