US Patent 9558424 On-road stereo visual odometry without explicit pose determinations

A method determines motion between first and second coordinate systems by first extracting first and second sets of keypoints from first and second images acquired of a scene by a camera arranged on a moving object. First and second poses are determined from the first and second sets of keypoints. A score for each possible motion between the first and the second poses is determined using a scoring function and a pose-transition graph constructed from training data where each node in the post-transition graph represents a relative pose and each edge represents a motion between two consecutive relative poses. Then, based on the score, a best motion is selected as the motion between the first and second coordinate systems.