Practical visual odometry for car-like vehicles

Author

Nourani-Vatani, Navid ; Roberts, Jonathan ; Srinivasan, Mandiam V.

Author_Institution

Autonomous Syst. Lab., CSIRO ICT Centre, Kenmore, QLD, Australia

fYear

2009

fDate

12-17 May 2009

Firstpage

3551

Lastpage

3557

Abstract

A method for calculating visual odometry for ground vehicles with car-like kinematic motion constraints similar to Ackerman´s steering model is presented. By taking advantage of this non-holonomic driving constraint we show a simple and practical solution to the odometry calculation by clever placement of a single camera. The method has been implemented successfully on a large industrial forklift and a Toyota Prado SUV. Results from our industrial test site is presented demonstrating the applicability of this method as a replacement for wheel encoder-based odometry for these vehicles.

Keywords

automotive components; cameras; computer vision; distance measurement; motion control; steering systems; vehicle dynamics; wheels; Toyota Prado SUV; car-like kinematic motion constraint; car-like vehicle; clever placement; computer vision; ground vehicle; industrial forklift; nonholonomic driving constraint; odometry calculation; steering model; visual odometry; wheel encoder-based odometry; Australia; Cameras; Computer vision; Image motion analysis; Kinematics; Land vehicles; Robots; Robustness; Tracking; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2009. ICRA '09. IEEE International Conference on

Conference_Location

Kobe

ISSN

1050-4729

Print_ISBN

978-1-4244-2788-8

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2009.5152403

Filename

5152403