The outliers caused by noise and mismatching severely restrict the precision of visual odometry. Moreover. the dynamic environment is also a crucial element that decreases the robustness of the systems. This paper presents a robust stereo visual odometry by decoupled ego-motion estimation based on probabilistic matches and rejecting the outliers of dynamic objects through motion segme... https://countryscenesaddleryandpetsuppliers.shop/product-category/westerns-bit/