Monocular Visual Odometry on a Smartphone

The paper presents the monocular visual odometry, which is the sequential estimation process of camera motions depending on the perceived movements of pixels in the image sequence. The visual odometry accurately determines the incremental movements and the positions of the camera according to the world coordinate system. The algorithm consists of four other algorithms, namely camera calibration algorithm, KLT algorithm, algorithm for estimation of rigid transformation and RANSAC algorithm. Since the visual odometry algorithm was developed with the purpose to be a part of an indoor localization application for pedestrians and especially the blind, it was fully implemented on a smartphone.