Solving the PnP Problem for Visual Odometry - An Evaluation of Methodologies for Mobile Robots.

The general procedure of visual odomentry (VO) for a mobile robot based on a monocular image stream can be subdivided into different subtasks. The minimal configuration of a VO framework illustrated in the following figure contains three major subtasks: feature handling, structure recovery and motion recovery. The motion recovery is solved by incorporation of general ideas from the fields of photogrammety and stereo vision, where homologous image information is used to derive the geometrical (epipolar) relations between two different images captured from different viewpoints.