This paper introduces a new mobile robot for hazardous environments and for industrial applications. The robot, called OmniMate, has full omnidirectional motion capabilities, can detect and correct odometry errors without external references, and offers a large 183×91 cm (72×36”) loading deck. A patented, so-called compliant linkage avoids the excessive wheel slippage often found in other omnid...

This paper presents a visual navigation algorithm for the six-legged walking robot DLR Crawler in rough terrain. The algorithm is based on stereo images from which depth images are computed using the SemiGlobal Matching (SGM) method. Further, a visual odometry is calculated along with an error measure. Pose estimates are obtained by fusing inertial data with relative leg odometry and visual odo...

A review of visual inertial odometry from filtering and optimisation perspectives Jianjun Gui, Dongbing Gu, Sen Wang & Huosheng Hu To cite this article: Jianjun Gui, Dongbing Gu, Sen Wang & Huosheng Hu (2015) A review of visual inertial odometry from filtering and optimisation perspectives, Advanced Robotics, 29:20, 1289-1301, DOI: 10.1080/01691864.2015.1057616 To link to this article: http://d...

Height is a critical variable for helicopter hover control. In this paper we discuss, and present experimental results for, two different height sensing techniques: ultrasonic and stereo imaging, which have complementary characteristics. Feature-based stereo is used which provides a basis for visual odometry and attitude estimation in the future.

An increasing number of mobile devices are capable of automatically sensing and recording rich information about the surrounding environment. Spatial locations of such data can help to better learn about the environment. In this work, we address the problem of identifying the locations visited by a mobile device as it moves within an indoor environment. We focus on devices equipped with odometr...

In this paper, the development of a 3-dimensional odometry system for wheeled robots on loose soil in an application of planetary exploration is described. When a wheeled robot operates in a slippery environment, visual odometry, which is used to obtain flow-images of the ground with a CCD camera, is effective for the measurement of motion because it is a non-contact method. However, in the tar...

This paper presents experimental results of test with a new method for detecting and correcting odometry errors without inertial or external-reference sensors. This method, called Internal Position Error Correction (IPEC), has been implemented on a new, commercially available mobile robot called “OmniMate,” which was specifically designed for the implementation of the IPEC method. The results p...

This work proposes a visual odometry method that combines points and plane primitives, extracted from a noisy depth camera. Depth measurement uncertainty is modelled and propagated through the extraction of geometric primitives to the frame-to-frame motion estimation, where pose is optimized by weighting the residuals of 3D point and planes matches, according to their uncertainties. Results on ...

Traditional monocular direct visual odometry (DVO) is one of the most famous methods to estimate ego-motion robots and map environments from images simultaneously. However, DVO heavily relies on high-quality accurate initial pose estimation during tracking. With outstanding performance deep learning, previous works have shown that neural networks can effectively learn 6-DoF (Degree Freedom) pos...