DocumentCode
2234757
Title
Visual odometry from an omnidirectional vision system
Author
Bunschoten, Roland ; Kröse, Ben
Author_Institution
Intelligent Autonomous Syst. Group, Amsterdam Univ., Netherlands
Volume
1
fYear
2003
fDate
14-19 Sept. 2003
Firstpage
577
Abstract
We describe a method for estimating the translation and rotation between two subsequent poses of a moving robot from images taken with an omnidirectional vision system. This allows some form of visual odometry. We use two sorts of projections derived from the omnidirectional image. The rotation and translation direction are determined from panoramic projections. After that, a projection on a plane parallel to the ground is used to estimate the length of the translation vector. Experiments on real and simulated data are carried out.
Keywords
image motion analysis; mobile robots; robot vision; moving robot; omnidirectional image; omnidirectional vision system; panoramic projections; visual odometry; Cameras; Image reconstruction; Informatics; Intelligent robots; Intelligent systems; Layout; Machine vision; Mobile robots; Motion estimation; Robot vision systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-7736-2
Type
conf
DOI
10.1109/ROBOT.2003.1241656
Filename
1241656
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