منابع مشابه
Visual Odometry using RGBD Camera
RGB-D camera not only provides color images, but also provide depth of each pixel in the image, thus serving as a rich source of information for several robotics and computer vision tasks. This project develops a system to estimate the 6-DoF ego-motion of a camera using only RGBD images as input. A frame by frame approach is employed to detect the motion of the camera. The estimated motion in e...
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In robotics, the problem of robot localization is studied for a long time. One approach to deal with it is the use of cameras whatever their kind. It brings the mobile robot, thanks to the image provided by the sensor, the information of the environment in front of it. Even if vision is often used to correct classical odometry derive, we would want to only use vision approach. The purpose of th...
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This article describes the theoretical and implementation challenges associated with generating 3D odometry estimates (delta-pose) from RGBD sensor data in real-time to facilitate navigation in cluttered indoor environments. The underlying odometry algorithm applies to general 6DoF motion; however, the computational platforms, trajectories, and scene content are motivated by their intended use ...
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In this report, we perform a rigorous analysis of EKF-based visual-inertial odometry (VIO) and present a method for improving its performance. Specifically, we examine the properties of EKF-based VIO, and show that the standard way of computing Jacobians in the filter inevitably causes inconsistency and loss of accuracy. This result is derived based on an observability analysis of the EKF’s lin...
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Reliable motion estimation is a key component for autonomous vehicles. We present a visual odometry method for ground vehicles using template matching. The method uses a downward facing camera perpendicular to the ground and estimates the motion of the vehicle by analyzing the image shift from frame to frame. Specifically, an image region (template) is selected and using correlation we find the...
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ژورنال
عنوان ژورنال: IEEE Access
سال: 2018
ISSN: 2169-3536
DOI: 10.1109/access.2018.2836928