Abstract
An experimental comparison among visual odometry systems using lenses with three different focal lengths (an ultra wide angle, a medium wide angle and a telephoto lens) is presented. For each focal length, several translational and rotational tests are performed, taking into account and analyzing different positions of the system inside the laboratory. The influence of several operative parameters is analyzed, highlighting their effect on the visual odometry systems equipped with different lenses. Experimental errors and uncertainties obtained by the three systems are compared.
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