Visual Odometry

Visual Odometry with a Single-Camera Stereo Omnidirectional System

An extension of the generalized unified model (GUM) originally applied to a single omnidirectional view.

Direct Multichannel Tracking

An extension of the semi-dense visual odometry (camera pose tracking) originally applied to a single grayscale image by the state-of-the-art Large-Scale Direct (LSD) SLAM.