Design of visual odometry system for mobile robot

Author

Ruzicka, Michal ; Masek, Petr

Author_Institution

Fac. of Mech. Eng., Brno Univ. of Technol., Brno, Czech Republic

fYear

2014

fDate

3-5 Dec. 2014

Firstpage

548

Lastpage

553

Abstract

This paper deals with design of hybrid software and hardware sensor, which can be used for mobile robots visual odometry task. The paper is focused to sensing raw data only. This approach combines onboard hardware sensors - accelerometer, gyroscope, magnetometer and camera with software module, which is mainly based on computer vision. Output from vision system is relative change of position and rotation of mobile robot. The position change is calculated for two axes based on vision data and the relative rotation is based on data fusion of three onboard sensors.

Keywords

accelerometers; cameras; distance measurement; gyroscopes; image fusion; magnetometers; mobile robots; robot vision; accelerometer; camera; computer vision; data fusion; gyroscope; hybrid software-hardware sensor; magnetometer; mobile robot; onboard hardware sensors; raw data; relative rotation; software module; visual odometry system design; Cameras; Computer vision; Correlation; Mobile robots; Robot sensing systems; Vehicles; Visualization; accelerometer; android operating system; computer vision; gyroscope; image registration; low cost power devices; magnetometer; mobile robot; odometry; optical flow; phase correlation; trajectory estimation; unmanned aerial vehicle; visual odometry;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics - Mechatronika (ME), 2014 16th International Conference on

Conference_Location

Brno

Print_ISBN

978-80-214-4817-9

Type

conf

DOI

10.1109/MECHATRONIKA.2014.7018318

Filename

7018318