erl_egomotion

Code associated with "Fast, Robust, Continuous Monocular Egomotion Computation". Implementation of Expected Residual Likelihood and related methods. For sample use of code, see Tests/Sample.m.

This repo uses Peter Corke's Robotics Toolbox as the implementation of the Epipolar RANSAC cost function. It also expect you to have the MATLAB Computer Vision toolbox.

Citation: Jaegle, A., Phillips, S., & Daniilidis, K. (2016). Fast, Robust, Continuous Monocular Egomotion Computation. Robotics and Automation (ICRA), 2016 IEEE International Conference on. IEEE, 2016.