نتایج جستجو برای: odometry

تعداد نتایج: 1853  

2015
Boyang Zhang

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.

2010
Surachai Panich Nitin Afzulpurkar

In this paper, absolute positioning instrument using trilateration ultrasonic sensor is mainly proposed to estimate absolute position errors combined with estimated position and orientation from differential odometry integrated with gyroscope to calculate absolute position of mobile robot. In the method, the indirect Kalman filter is mainly used to estimate absolute position errors and the esti...

2007
Niko Sünderhauf Peter Protzel

Estimating its ego-motion is one of the most important capabilities for an autonomous mobile platform. Without reliable ego-motion estimation no long-term navigation is possible. Besides odometry, inertial sensors, DGPS, laser range finders and so on, vision based algorithms can contribute a lot of information. Stereo odometry is a vision based motion estimation algorithm that estimates the ego...

2015
Titus Iulian Ciocoiu Florin Moldoveanu

Estimating its ego-motion is one of the most important capabilities for an autonomous mobile platform. Without reliable ego-motion estimation no long-term navigation is possible. Besides odometry, inertial sensors, DGPS, laser range finders and so on, vision based algorithms can contribute a lot of information. Stereo odometry is a vision based motion estimation algorithm that estimates the ego...

Journal: :CoRR 2018
Maximilian Harr Christoph Schaefer

To measure system states and local environment directly with high precision, expensive sensors are required. However, highly accurate system states and environmental perception can also be achieved using data fusion techniques and digital maps. One crucial task of multi-sensor state estimation is to project different sensor measurements into the same temporal, spatial and physical domain, estim...

2015
T. CIOCOIU F. MOLDOVEANU A. STANCIU

Estimating its ego-motion is one of the most important capabilities for an autonomous mobile platform. Without reliable ego-motion estimation no long-term navigation is possible. Besides odometry, inertial sensors, DGPS, laser range finders and so on, vision based algorithms can contribute a lot of information. In this paper, we want to give an integrated overview of stereo odometry. We want to...

2004
Pei-Chun Lin Haldun Komsuoglu Daniel E. Koditschek

We report on a continuous time odometry scheme for a walking hexapod robot built upon a previously developed leg-strain based body pose estimator. We implement this estimation procedure and odometry scheme on the robot RHex and evaluate its performance at widely varying speeds and over different ground conditions by means of a 6 degree of freedom vision based ground truth measurement system (GT...

Journal: :Auton. Robots 2006
Nakju Lett Doh Howie Choset Wan Kyun Chung

All mobile bases suffer from localization errors. Previous approaches to accommodate for localization errors either use external sensors such as lasers or sonars, or use internal sensors like encoders. An encoder’s information is integrated to derive the robot’s position; this is called odometry. A combination of external and internal sensors will ultimately solve the localization error problem...

2013
Michael Warren Ben Upcroft

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...

2017
Jianke Zhu

Visual odometry is an important research problem for computer vision and robotics. In general, the feature-based visual odometry methods heavily rely on the accurate correspondences between local salient points, while the direct approaches could make full use of whole image and perform dense 3D reconstruction simultaneously. However, the direct visual odometry usually suffers from the drawback ...

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