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The system and method utilize the differences between constraints presented by proximate and remote objects. This system also avoids degenerate data.
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A system and method of quick and robust stereo visual odometry is provided. The system and method utilize the differences between constraints presented by proximate and remote objects, where the concept of proximate objects is dependent upon vehicle speed. Image features are extracted to establish stereo correspondence, and then separated based on their disparity and vehicle speed into two sets. A low disparity set is used to determine the camera rotation using a two-point algorithm. Thereafter, the camera translation is determined using the second set of features and a one-point algorithm. In this manner, this system and method avoid degenerate data common to previous methodologies.