Ego-motion vs Odometry vs Pose Estimation

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Ego-motion

• Ego-motion is defined as the 3D motion of a system (ex camera) within an environment.

Visual Odometry

• Odometry is generally used to refer to an elapsed or relative position and orientation and, because it is not absolute, is prone to drift over time.

• Visual odometry in general is the estimation of ego-motion using computer vision techniques.

Pose Estimation

• Pose estimation means determining position and orientation.