Stereo-based visual odometry for robust rover navigation

被引：0
|
作者：
Cumani, Aldo [1 ]
Guiducci, Antonio [1 ]
机构：
[1] Istituto Nazionale di Ricerca Metrologica, Str. delle Cacce, 91, I-10135 Torino, Italy
来源：
WSEAS Transactions on Circuits and Systems | 2006年 / 5卷 / 10期
关键词：
Algorithms - Computer simulation - Distance measurement - Feature extraction - Motion compensation - Navigation systems - Stereo vision - Tracking (position);
D O I：
暂无
中图分类号：
学科分类号：
摘要：
This work proposes a method for estimating the trajectory of an autonomous rover relying on passive stereo vision only. This visual odometry estimate is obtained by tracking pointwise image features and then evaluating the robot motion by robust bundle adjustment of the stereo matched features, before and after the motion. Some results of the application of the algorithm, both to simulated data and to actual image sequences acquired by a mobile platform, are presented and discussed.
引用
收藏
页码：1556 / 1562
相关论文
共 50 条
  • [1] Stereo-based Visual Odometry for Autonomous Robot Navigation
    Kostavelis, Ioannis
    Boukas, Evangelos
    Nalpantidis, Lazaros
    Gasteratos, Antonios
    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2016, 13
  • [2] A Stereo-Based Visual-Inertial Odometry for SLAM
    Li, Yong
    Lang, ShiBing
    2019 CHINESE AUTOMATION CONGRESS (CAC2019), 2019, : 594 - 598
  • [3] Direct formulas for stereo-based visual odometry error modeling
    Golban, Catalin
    Cobarzan, Petrut
    Nedevschi, Sergiu
    2015 IEEE 11TH INTERNATIONAL CONFERENCE ON INTELLIGENT COMPUTER COMMUNICATION AND PROCESSING (ICCP), 2015, : 197 - 202
  • [4] Enabling Continuous Planetary Rover Navigation through FPGA Stereo and Visual Odometry
    Howard, Thomas M.
    Morfopoulos, Arin
    Morrison, Jack
    Kuwata, Yoshiaki
    Villalpando, Carlos
    Matthies, Larry
    McHenry, Michael
    2012 IEEE AEROSPACE CONFERENCE, 2012,
  • [5] Robust stereo visual odometry based on points and lines
    Zhang, Jhua
    Zhou, Youjie
    Zhao, Yan
    Xue, Yuan
    Zhang, Lin
    Zhao, Aidi
    He, Wei
    SECOND TARGET RECOGNITION AND ARTIFICIAL INTELLIGENCE SUMMIT FORUM, 2020, 11427
  • [6] An integrated stereo visual odometry for robotic navigation
    Azartash, Haleh
    Banai, Nima
    Nguyen, Truong Q.
    ROBOTICS AND AUTONOMOUS SYSTEMS, 2014, 62 (04) : 414 - 421
  • [7] Communicationless Navigation Through Robust Visual Odometry
    Van Hamme, David
    Veelaert, Peter
    Philips, Wilfried
    2012 15TH INTERNATIONAL IEEE CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS (ITSC), 2012, : 1555 - 1560
  • [8] Stereo-RIVO: Stereo-Robust Indirect Visual Odometry
    Salehi, Erfan
    Aghagolzadeh, Ali
    Hosseini, Reshad
    JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2024, 110 (03)
  • [9] Robust and efficient stereo feature tracking for visual odometry
    Johnson, Andrew E.
    Goldberg, Steven B.
    Cheng, Yang
    Matthies, Larry H.
    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9, 2008, : 39 - +
  • [10] Robust Stereo Visual Odometry from Monocular Techniques
    Persson, Mikael
    Piccini, Tommaso
    Felsberg, Michael
    Mester, Rudolf
    2015 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV), 2015, : 686 - 691
12345