Figure5
Figure 5. The experiment results for estimating the camera motion trajectories with the extracted staircase feature points. The blue skeleton represents the lower limb position of the human subject at the beginning of each trial. The red curves depict the ground truth motion trajectories of the camera recorded by the motion capture system. The blue curves embody the estimated camera trajectory with the proposed method (denoted as VO New). The green dashed curves display the estimated camera trajectory with our earlier work extracting only the convex corner points[31] (denoted as VO Pre).
