Visual Odometry through Appearance- and Feature-Based Method with Omnidirectional Images
Joint Authors
Reinoso García, Oscar
Valiente García, David
Gil Aparicio, Arturo
Fernández Rojo, Lorenzo
Payá Castelló, Luis
Source
Issue
Vol. 2012, Issue 2012 (31 Dec. 2012), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2012-09-06
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
In the field of mobile autonomous robots, visual odometry entails the retrieval of a motion transformation between two consecutive poses of the robot by means of a camera sensor solely.
A visual odometry provides an essential information for trajectory estimation in problems such as Localization and SLAM (Simultaneous Localization and Mapping).
In this work we present a motion estimation based on a single omnidirectional camera.
We exploited the maximized horizontal field of view provided by this camera, which allows us to encode large scene information into the same image.
The estimation of the motion transformation between two poses is incrementally computed, since only the processing of two consecutive omnidirectional images is required.
Particularly, we exploited the versatility of the information gathered by omnidirectional images to perform both an appearance-based and a feature-based method to obtain visual odometry results.
We carried out a set of experiments in real indoor environments to test the validity and suitability of both methods.
The data used in the experiments consists of a large sets of omnidirectional images captured along the robot's trajectory in three different real scenarios.
Experimental results demonstrate the accuracy of the estimations and the capability of both methods to work in real-time.
American Psychological Association (APA)
Valiente García, David& Fernández Rojo, Lorenzo& Gil Aparicio, Arturo& Payá Castelló, Luis& Reinoso García, Oscar. 2012. Visual Odometry through Appearance- and Feature-Based Method with Omnidirectional Images. Journal of Robotics،Vol. 2012, no. 2012, pp.1-13.
https://search.emarefa.net/detail/BIM-498904
Modern Language Association (MLA)
Valiente García, David…[et al.]. Visual Odometry through Appearance- and Feature-Based Method with Omnidirectional Images. Journal of Robotics No. 2012 (2012), pp.1-13.
https://search.emarefa.net/detail/BIM-498904
American Medical Association (AMA)
Valiente García, David& Fernández Rojo, Lorenzo& Gil Aparicio, Arturo& Payá Castelló, Luis& Reinoso García, Oscar. Visual Odometry through Appearance- and Feature-Based Method with Omnidirectional Images. Journal of Robotics. 2012. Vol. 2012, no. 2012, pp.1-13.
https://search.emarefa.net/detail/BIM-498904
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-498904