International Journal of Vehicular Technology

Research Article

GPS and Stereovision-Based Visual Odometry: Application to Urban Scene Mapping and Intelligent Vehicle Localization

Figure 6

The yellow points are the detected features; the corresponding features are connected by red line; number of detected SURF features in left image is 1048, in right image is 1142; the stereo matched points number of image pair is 334, and distribution score is 225.
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(a) Left image from the sequence
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(b) The corresponding right image
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(c) The detected SURF features in left image
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(d) The detected SURF features in right image
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(e) The 2D/2D matching results of SURF feature in left and right images are connected with red lines
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(f) Reconstructed 3D points, overlook
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(g) Reconstructed 3D points, side view