منابع مشابه
Visual-LiDAR Odometry Aided by Reduced IMU
Abstract: This paper proposes a method for combining stereo visual odometry, Light Detection And Ranging (LiDAR) odometry and reduced Inertial Measurement Unit (IMU) including two horizontal accelerometers and one vertical gyro. The proposed method starts with stereo visual odometry to estimate six Degree of Freedom (DoF) ego motion to register the point clouds from previous epoch to the curren...
متن کاملRough Terrain Visual Odometry
We present an integrated system to localize a mobile robot in rough outdoor terrain using visual odometry. Our previous work [1] presented a visual odometry solution that estimates frame-to-frame motion from stereo cameras and integrated this incremental motion with a low cost GPS. We extend that work through the use of bundle adjustment over multiple frames. Bundle adjustment helps to reduce t...
متن کاملMOMA: Visual Mobile Marker Odometry
In this paper, we present a cooperative odometry scheme based on the detection of mobile markers in line with the idea of cooperative positioning for multiple robots [1]. To this end, we introduce a simple optimization scheme that realizes visual mobile marker odometry via accurate fixed marker-based camera positioning and analyse the characteristics of errors inherent to the method compared to...
متن کاملHigh Altitude Stereo Visual Odometry
Stereo visual odometry has received little investigation in high altitude applications due to the generally poor performance of rigid stereo rigs at extremely small baseline-to-depth ratios. Without additional sensing, metric scale is considered lost and odometry is seen as effective only for monocular perspectives. This paper presents a novel modification to stereo based visual odometry that a...
متن کاملProbablistic Models for Visual Odometry
Visual odometry is a process to estimate the position and orientation using information obtained from a camera. We test a popular open source implementation of visual odometry SVO, and use unsupervised learning to evaluate its performance. Keywords—visual odometry, unsupervised learning.
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of Vision
سال: 2010
ISSN: 1534-7362
DOI: 10.1167/7.9.147