Navigation of robotics platform using monocular visual odometry

Author

Beran, Ladislav ; Chmelar, Pavel ; Rejfek, Lubos

Author_Institution

Fac. of Electr. Eng. & Inf., Dept. of Electr. Eng., Univ. of Pardubice, Pardubice, Czech Republic

fYear

2015

fDate

21-22 April 2015

Firstpage

213

Lastpage

216

Abstract

Precise navigation of mobile robots in unknown areas is common problematic in many research papers. For navigation in outdoor areas Global Navigation Satellite System (GNSS) is typically used. For better position estimation in Europe augmentation satellite system called European Geostationary Navigation Overlay Service (EGNOS) it is used. In US it is similar system called Wide Area Augmentation System (WAAS). These systems are not usable in indoor areas because the weak of signal and the low position accuracy. For indoor areas, it is necessary to use an alternative navigation system - independent on satellite navigation. In our research we are focusing on visual odometry using a monocular camera. Advanced image processing methods on camera images to achieved accurate visual odometry are applied.

Keywords

cameras; mobile robots; path planning; position control; robot vision; European Geostationary Navigation Overlay Service EGNOS; GNSS; Global Navigation Satellite System; WAAS; Wide Area Augmentation System; image processing method; mobile robot navigation; monocular camera; monocular visual odometry; position estimation; Cameras; Estimation; Global Positioning System; Robots; Visualization; Monocular camera vision; image processing; robot navigation; visual odometry;

fLanguage

English

Publisher

ieee

Conference_Titel

Radioelektronika (RADIOELEKTRONIKA), 2015 25th International Conference

Conference_Location

Pardubice

Print_ISBN

978-1-4799-8117-5

Type

conf

DOI

10.1109/RADIOELEK.2015.7129012

Filename

7129012