Title :
A study of visual odometry for mobile robots using omnidirectional camera
Author :
Nakada, Takahito ; Ohkubo, Tomoyuki ; Kobayashi, Kazuyuki ; Watanabe, Kajiro ; Kurihara, Yosuke
Author_Institution :
Grad. Sch. of Eng., Hosei Univ., Tokyo, Japan
Abstract :
This paper describes a new visual odometry system using omnidirectional images for application to mobile robots under an urban environment. Both velocity and direction of movement can be estimated from a sequence of omnidirectional images. A unique Hough transform based algorithm enables real-time estimation of the speed of a moving robot. The validity of the proposed method is examined using a wheelchair-type mobile robot.
Keywords :
Hough transforms; cameras; distance measurement; image sequences; mobile robots; robot vision; Hough transform; omnidirectional camera; omnidirectional image sequence; real-time speed estimation; visual odometry system; wheelchair-type mobile robot; Cameras; Mobile robots; Robot vision systems; Trajectory; Transforms; Visualization; Hough Transform; Omnidirectional camera; Visual odometry;
Conference_Titel :
SICE Annual Conference 2010, Proceedings of
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-7642-8
