Unaided Stereo Vision Based Pose Estimation
نویسندگان
چکیده
This paper presents the development of a lowcost sensor platform for use in ground-based visual pose estimation and scene mapping tasks. We seek to develop a technical solution using low-cost vision hardware that allows us to accurately estimate robot position for SLAM tasks. We present results from the application of a vision based pose estimation technique to simultaneously determine camera poses and scene structure. The results are generated from a dataset gathered traversing a local road at the St Lucia Campus of the University of Queensland. We show the accuracy of the pose estimation over a 1.6km trajectory in relation to GPS ground truth.
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تاریخ انتشار 2010