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  Hernandez Gutierrez, A., Nieto, J.I., Vidal-Calleja, T.A. & Nebot, E.
Large scale visual odometry using stereo vision
Proceedings of 2009 Australasian Conference on Robotics and Automation (ACRA), 2009
Presented at 2009 Australasian Conference on Robotics and Automation (ACRA), Sydney, Australia, 02 Dec. - 04 Dec. 2009

Abstract
This paper presents a system for egomotion estimation using a stereo head camera. The camera motion estimation is based on features
tracked along a video sequence. The system also estimates the tridimensional geometry of the environment by fusing the visual information from multiple views. Furthermore, the paper presents comparisons between two different algorithms. The first one is by applying triangulation to 3D points. Motion estimation using 3D points suffers from the problem of nonisotropic noise due to the large uncertainty in depth estimation. To deal with this problem we present results with a second approach that works directly in the disparity space. Experimental results using a mobile platform are presented. The experiments cover long distances in urban-like environments with the presence of dynamic objects. The system presented is part of a bigger project involving autonomous
navigation using vision only.

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