Visual Odometry through Appearance- and Feature-Based Method with Omnidirectional Images
Figure 12
(a) Example of an experiment using the data set 1 and the feature-based method, using matched points. (b) RMS error and step time versus the number of matched points using the feature-based method. (c) , , and error for each step of the visual odometry estimation process using the feature-based method using matched points.