Table 2 Comparison between types of cameras used for VO
From: Review of visual odometry: types, approaches, challenges, and applications
Type of VO camera | Pros | Cons |
|---|---|---|
Monocular | Low cost and easy deployment Light weight: good for small robotics Simple calibration | Suffer from image scale uncertainty |
Stereo | Image scale and depth information is easy to be retrieved Provide 3D vision | More expensive and needs more calibration effort than monocular cameras It is degraded to the monocular case when the stereo baseline is much smaller than the distances to the scene from the camera Difficult interfacing and synchronization. |
Omnidirectional | Provides very wide field of vision (FOV) (up to 360° FOV) Can generate well refined 3D model of the world structure Rotational invariance | Complex system Multiple cameras calibrating and synchronizing Needs high bandwidth Expensive |