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

Figure 7

The bottom image pair is the reference images pair, yellow points indicate the detected features, and red features are the ones that could be tracked; the above image pair is the tracked image pair, the yellow points are the positions of tracked features in current frame, and the change of feature position is demonstrated by red line. The number of tracked points in left image is 332, the initial number of tracked points in right image is 320, number after 2D filtering is 299, and distribution score for current left frame is 207.