Title :
Visual odometry in mobile robots
Author :
Delgado, V. Jaime ; Kurka, Paulo R. ; Cardozo, Eleri
Author_Institution :
Fac. de Eng. Mec., Univ. Estadual de Campinas, São Paulo, Brazil
Abstract :
The paper presents an application of visual odometry, through reconstruction of the path of a mobile robot, using a stereoscopic camera system. The scale invariant feature transformation algorithm (SIFT), is used to process the images and locate keypoints in a 3D euclidian coordinates space. The path of a Pioneer mobile robot is estimated using the proposed technique.
Keywords :
distance measurement; mobile robots; path planning; robot vision; stereo image processing; 3D Euclidian coordinates space; image processing; path estimation; path reconstruction; pioneer mobile robot; scale invariant feature transformation algorithm; stereoscopic camera system; visual odometry; Cameras; Mobile robots; Robot kinematics; Robot vision systems; Stereo image processing; Visualization; Mobile Robot; Odometry; Stereoscopic vision;
Conference_Titel :
Robotics Symposium, 2011 IEEE IX Latin American and IEEE Colombian Conference on Automatic Control and Industry Applications (LARC)
Conference_Location :
Bogota
Print_ISBN :
978-1-4577-1689-8
DOI :
10.1109/LARC.2011.6086813
