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이상일(Sangil Lee),김표진(Pyojin Kim),김창현(Changhyeon Kim),이현범(Hyeonbeom Lee),김현진(H. Jin Kim) 제어로봇시스템학회 2017 제어·로봇·시스템학회 논문지 Vol.23 No.6
This paper surveys visual odometry technology for unmanned systems. Visual odometry is one of the most important technologies to implement vision-based navigation; therefore, it is widely applied to unmanned systems in recent years. Visual odometry estimates a trajectory and a pose of the system, and it could be classified into the following: 1) stereo vs. monocular, 2) feature-based or indirect vs. direct, and 3) linear vs. nonlinear based on the number of cameras, information attributes, and the optimization process, respectively. In the paper, we discuss the state-of-the-art issues of research activities related to visual odometry and summarize future direction for the research.