Gonçalves, Luiz Marcos GarciaAvila, Elizabeth Viviana Cabrera2022-05-172022-05-172022-02-18AVILA, Elizabeth Viviana Cabrera. Windowed optimization for stereo visual odometry fusion. 2022. 88f. Tese (Doutorado em Engenharia Elétrica e de Computação) - Centro de Tecnologia, Universidade Federal do Rio Grande do Norte, Natal, 2022.https://repositorio.ufrn.br/handle/123456789/47206Accuracy motion estimation is an essential task accomplished in autonomous mobile agents’ navigation (aerial or ground) and in robots navigation. In this thesis, we propose to reduce the error of stereo visual odometry when using 6 degrees of freedom poses through a graph optimization-based visual odometry fusion approach using the redundancy of captured information from the environment. Our approach uses two stereo images sets of a public dataset captured with a moving platform mounted on the top of a car to compute independent stereo odometry employing the LIBVISO2 algorithm and later fuse them. Our results are compared against two recognized SLAM frameworks ORB-SLAM2 and UCOSLAM and with the stereo odometry algorithm input. The relative pose error of the fused poses decreases by up to 94% in relation to the error of single stereo odometry and by up to 91% compared with the results of UCOSLAM. Our implementations are open source and use public libraries.Acesso AbertoComputer VisionSensor fusionStereo visual odometryGraph optimizationdoctoralThesis