Title :
Visual odometry based on locally planar ground assumption
Author :
Wang, Hui ; Yuan, Kui ; Zou, Wei ; Zhou, Qingrui
Author_Institution :
Inst. of Autom., Chinese Acad. of Sci., Beijing, China
fDate :
27 June-3 July 2005
Abstract :
A method for estimating ego-motion with vehicle mounted single camera is presented in this paper. Simultaneous translation and rotation are accurately measured by detecting and tracking features in image sequences. This approach is based on locally planar ground assumption and runs in real-time. It has been verified in a variety of real-world environments and on real mobile robot platforms.
Keywords :
cameras; distance measurement; estimation theory; image sequences; mobile robots; motion estimation; robot vision; ego-motion estimation; feature detection; feature tracking; image sequences; locally planar ground assumption; mobile robot platforms; robot motion tracking; vehicle mounted single camera; visual odometry; Cameras; Global Positioning System; Image motion analysis; Image sequences; Mobile robots; Navigation; Optical filters; Robot sensing systems; Robot vision systems; Wheels;
Conference_Titel :
Information Acquisition, 2005 IEEE International Conference on
Print_ISBN :
0-7803-9303-1
DOI :
10.1109/ICIA.2005.1635054
