Steo
Published on
This video illustrates the results of the visual motion estimation algorithm (shown in green) with the rover Lama during a 50 m long loop, compared with the position estimated by odometry (in red). Worth to notice is the behavior of both estimators when the rover slips laterally on the small rocky hill, and the estimated positions when the rover comes back to its starting point. The visual motion estimator undoubtedly beats odometry.
Steo (stereovision based odometry) was one of the components of my PhD thesis.