Before revision:  The utility of the proposed likelihood model is demonstrated in a visual odometry ego-motion simulation study, which results in 30-83\% reduction in position drift rate compared to traditional methodsemploying a Gaussian error assumption .
After revision:  The utility of the proposed likelihood model is demonstrated in a visual odometry ego-motion study, which results in 30-83\% reduction in position drift rate compared to traditional methodsemploying a Gaussian error assumption .