APPARATUS FOR VISUAL ODOMETRY USING STEREO IMAGE AND METHOD FOR THE SAME

摘要

One embodiment of the present invention provides an apparatus for visual odometry using stereo images. The apparatus for visual odometry comprises: a depth map generation unit extracting one or more feature points for each of a plurality of stereo images and depth information corresponding to the feature points to generate a depth map; an image patch setting unit setting an image patch corresponding to each feature point in the depth map; an image alignment unit aligning the stereo images by aligning the image patches corresponding to each stereo image to minimize a cost function; and a posture estimation unit estimating a posture using alignment information for the stereo images.