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

Figure 13

The first image sequence. Trajectories obtained by GPS, stereovision and GPS/Vision integrated methods. Difference of position and orientation between RTK-GPS and GPS/Vision trajectories.

(a) Trajectories separately obtained by GPS and stereovision

(b) Trajectory obtained by GPS/Vision integrated method

(c) Difference of position between GPS and vision-only trajectories

(d) Difference of position between GPS and GPS/Vision trajectories

(e) Difference of orientation between GPS and vision-only trajectories

(f) Difference of orientation between GPS and GPS/Vision trajectories