Title :
An embedded stereo vision module for 6D pose estimation and mapping
Author :
Spampinato, G. ; Lidholm, J. ; Ahlberg, C. ; Ekstrand, F. ; Ekström, M. ; Asplund, L.
Author_Institution :
Sch. of Innovation, Design & Eng., Malardalen Univ., Vasteras, Sweden
Abstract :
This paper presents an embedded vision system based on reconfigurable hardware (FPGA) and two CMOS cameras to perform stereo image processing and 3D mapping for autonomous navigation. We propose an EKF based visual SLAM and sparse feature detectors to achieve 6D localization of the vehicle in non flat scenarios. The system can operate regardless of the odometry information from the vehicle since visual odometry is used. As a result, the final system is compact and easy to install and configure.
Keywords :
CMOS image sensors; Kalman filters; SLAM (robots); automatic guided vehicles; distance measurement; feature extraction; field programmable gate arrays; mobile robots; pose estimation; robot vision; stereo image processing; 3D mapping; 6D localization; 6D pose estimation; CMOS camera; EKF based visual SLAM; FPGA; autonomous navigation; embedded stereo vision module; odometry information; reconflgurable hardware; sparse feature detector; stereo image processing; visual odometry; Accuracy; Cameras; Estimation; Three dimensional displays; Uncertainty; Vehicles; Visualization;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
978-1-61284-454-1
DOI :
10.1109/IROS.2011.6094788
