منابع مشابه
Homography-Based Monocular Visual Odometry
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...
متن کاملMonocular Visual Odometry in Urban Environments
We present a system for Monocular Simultaneous Localization and Mapping (Mono-SLAM) relying solely on video input. Our algorithm makes it possible to precisely estimate the camera trajectory without relying on any motion model. The estimation is fully incremental: at a given time frame, only the current location is estimated while the previous camera positions are never modified. In particular,...
متن کاملFast Techniques for Monocular Visual Odometry
In this paper, fast techniques are proposed to achieve real time and robust monocular visual odometry. We apply an iterative 5point method to estimate instantaneous camera motion parameters in the context of a RANSAC algorithm to cope with outliers efficiently. In our method, landmarks are localized in space using a probabilistic triangulation method utilized to enhance the estimation of the la...
متن کاملMonocular Visual Odometry for Mars Exploration Rovers
Over the past twenty years Mars surface exploration has been conducted particularly by the following six-wheel rocker-bogie mobile rovers developed at NASA Jet Propulsion Laboratory [1]: the Mars Pathfinder mission rover Sojourner, the Mars Exploration Rovers (MER) Spirit and Opportunity and the Mars Science Laboratory (MSL) rover Curiosity, where the latter is still on his way to Mars and is e...
متن کاملA Photometrically Calibrated Benchmark For Monocular Visual Odometry
We present a dataset for evaluating the tracking accuracy of monocular visual odometry and SLAM methods. It contains 50 real-world sequences comprising more than 100 minutes of video, recorded across dozens of different environments – ranging from narrow indoor corridors to wide outdoor scenes. All sequences contain mostly exploring camera motion, starting and ending at the same position. This ...
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ژورنال
عنوان ژورنال: IFAC-PapersOnLine
سال: 2015
ISSN: 2405-8963
DOI: 10.1016/j.ifacol.2015.08.136