Title :
Design of visual odometry system for mobile robot
Author :
Ruzicka, Michal ; Masek, Petr
Author_Institution :
Fac. of Mech. Eng., Brno Univ. of Technol., Brno, Czech Republic
Abstract :
This paper deals with design of hybrid software and hardware sensor, which can be used for mobile robots visual odometry task. The paper is focused to sensing raw data only. This approach combines onboard hardware sensors - accelerometer, gyroscope, magnetometer and camera with software module, which is mainly based on computer vision. Output from vision system is relative change of position and rotation of mobile robot. The position change is calculated for two axes based on vision data and the relative rotation is based on data fusion of three onboard sensors.
Keywords :
accelerometers; cameras; distance measurement; gyroscopes; image fusion; magnetometers; mobile robots; robot vision; accelerometer; camera; computer vision; data fusion; gyroscope; hybrid software-hardware sensor; magnetometer; mobile robot; onboard hardware sensors; raw data; relative rotation; software module; visual odometry system design; Cameras; Computer vision; Correlation; Mobile robots; Robot sensing systems; Vehicles; Visualization; accelerometer; android operating system; computer vision; gyroscope; image registration; low cost power devices; magnetometer; mobile robot; odometry; optical flow; phase correlation; trajectory estimation; unmanned aerial vehicle; visual odometry;
Conference_Titel :
Mechatronics - Mechatronika (ME), 2014 16th International Conference on
Conference_Location :
Brno
Print_ISBN :
978-80-214-4817-9
DOI :
10.1109/MECHATRONIKA.2014.7018318
