Abstract
In this paper we focus on the problem of Visual Odometry. In recent years, several VO algorithms have been SAD or ZNCC in stereo matching and feature points tracking. These methods are template matching with luminosity distribution and have properties of accuracy of pixel and poor change of lightness of the image. These properties cause low accuracy of correspondence of feature points. In this work we employ Phase-Only Correlation in stereo matching and feature points tracking. POC only use phase of image and have the properties of high accuracy of subpixel and strong in change of lightness. We experiment with image data set of rough terrain and experiment result show that this method provides the high accuracy of VO.
