Dense monocular visual odometry aided by range sensors for mobile robots

We propose and describe the use of a monocular set-up that should provide both Visual Odometry that Dense Reconstruction. The thesis mainly focuses on the second part and tries to define an algorithm for Dense Reconstruction suitable for a monocular set-up. We show that the Monocular Dense Reconstruction algorithm works in different possible configuration. However, it struggles to solve the more complex epipolar geometries.