Egomotion (vs odometry)

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See also: Odometry

Source: http://en.wiktionary.org/wiki/egomotion
The three-dimensional movement of a camera relative to its environment

Source: http://answers.ros.org/question/296686/what-is-the-differences-between-ego-motion-and-odometry/

  • Generally used interchangeably with odometry
  • Possible difference:
    • Egomotion is more about the estimation of twist (lin, rotational velocities)
    • Odometry is more about the estimation of path

Examples

  • Wheel odometry: path estimation via time-integration of an estimated twist
  • Visual odometry/Scan matching: direct estimation of pose without time-integration