International Journal of Vehicular Technology

Research Article

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

Figure 14

The second image sequence. Trajectories obtained by GPS, stereovision, and GPS/Vision integrated methods. Difference of position and orientation between RTK-GPS and stereovision-only trajectories.
439074.fig.0014a
(a) Trajectories separately obtained by GPS and stereovision
439074.fig.0014b
(b) Trajectory obtained by GPS/Vision integrated method
439074.fig.0014c
(c) Difference of position between GPS and vision-only trajectories
439074.fig.0014d
(d) Difference of position between GPS and GPS/Vision trajectories
439074.fig.0014e
(e) Difference of orientation between GPS and vision-only trajectories
439074.fig.0014f
(f) Difference of orientation between GPS and GPS/Vision trajectories