#Visual Odometry

Computer Vision Primer September 7, 2026

Feature Tracking Primer — How to Avoid Losing the Same Point Between Frames

Feature tracking is the process of matching the same physical point across frames in a video sequence. This article organizes template tracking, Lucas–Kanade optical flow, descriptor matching, RANSAC, outlier rejection, and Kalman prediction with equations and implementation steps, and explains the conditions under which Visual Odometry and SLAM break down, along with mitigations.

Fundamentals · 6 min Computer Vision Primer September 3, 2026

VO/VIO Primer — A Practical Foundation for Estimating Motion from a Camera and an IMU

Visual Odometry (VO) and Visual-Inertial Odometry (VIO) estimate the relative motion of a robot or camera from a sequence of images and inertial measurements. This article works through monocular scale ambiguity, IMU preintegration, initialization, filtering versus optimization, implementations such as VINS-Mono and OpenVINS, evaluation metrics, and failure conditions, with math and diagrams.

Fundamentals · 17 min