Method for stereo visual odometry using points, lines and planes

A method for determining a motion between a first and second coordinate system, comprising the steps of:

• extracting a first set of primitives from a 3D image acquired in the first coordinate system from an environment;
• extracting a second set of primitives from a 3D image acquired in the second coordinate system from the environment;
• generating motion hypotheses for the first and second sets of primitives using a RANdom SAmple Consensus procedure;
• determining a score for each motion hypothesis using a scoring function learned using parameter learning techniques, wherein parameters of the scoring function are determined using training data in a structured learning procedure;
• and
• selecting, based on the score, a best motion hypothesis as the motion between the first and second coordinate system.