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

Figure 5

Correspondences for a specific point in the first image are searched for in the predicted area, which is projected into the second image. Crossed points represent the projection of the normal point distribution for the multiscale points that determine this area. Dash lines show the candidate points in the second image which are inside the predicted area. Continuous line represents the correct correspondence for a certain point in the first image. Curved continuous line shows the shape of the predicted area.