Practical visual odometry for car-like vehicles
| Data(s) |
14/05/2009
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|---|---|
| Resumo |
A method for calculating visual odometry for ground vehicles with car-like kinematic motion constraints similar to Ackerman's steering model is presented. By taking advantage of this non-holonomic driving constraint we show a simple and practical solution to the odometry calculation by clever placement of a single camera. The method has been implemented successfully on a large industrial forklift and a Toyota Prado SUV. Results from our industrial test site is presented demonstrating the applicability of this method as a replacement for wheel encoder-based odometry for these vehicles. |
| Identificador | |
| Publicador |
IEEE |
| Relação |
http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5152403&tag=1 DOI:10.1109/ROBOT.2009.5152403 Nourani-Vatani, Navid, Roberts, Jonathan M., & Srinivasan, M. V. (2009) Practical visual odometry for car-like vehicles. In IEEE International Conference on Robotics and Automation, IEEE, Kobe, Japan, pp. 3551-3557. |
| Fonte |
School of Electrical Engineering & Computer Science; Institute for Future Environments; Science & Engineering Faculty |
| Palavras-Chave | #080104 Computer Vision #091303 Autonomous Vehicles #Visual odometry |
| Tipo |
Conference Paper |
