Title :
Milk: Monocular visual odometry with motion constraints
Author :
Sunglok Choi ; Wonpil Yu
Author_Institution :
Robot & Cognitive Convergence Res. Dept., ETRI, Daejeon, South Korea
Abstract :
This video introduces about monocular visual odometry based on planar and circular motion assumption. Many indoor and on-road vehicles show planar motion, and each small piece of motion can approximate to circular motion. We presents that the motion constraints generate more accurate trajectories more quickly.
Keywords :
distance measurement; mobile robots; motion control; road vehicles; circular motion; indoor vehicle; monocular visual odometry; motion constraints; on-road vehicle; planar motion; Cameras; Dairy products; Feature extraction; Robots; Vehicles; Visualization; Wheels; 1-point RANSAC; Circular Motion; Monocular Visual Odometry; Planar Motion;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2012 9th International Conference on
Conference_Location :
Daejeon
Print_ISBN :
978-1-4673-3111-1
Electronic_ISBN :
978-1-4673-3110-4
DOI :
10.1109/URAI.2012.6462972
