Realization of Odometry System Using Monocular Vision

Visual odometry system is an important part in the navigation task. It is a remedy to the traditional odometry, which can give precise distance and course information in unknown or slippery situations. This paper proposes a monocular vision odometry system. It facilitates matching keypoints in different frames sharing the same world coordinates as one necessary constraint. By accurately matching the keypoints from image frames, we can successfully use coordinates transformation to estimate the distance and the rotation angles of the vehicles