Visual Odometry for Mobile Robots: Motion Estimation from Imagery - Couverture souple

Alismail, Hatem

 
9783838364384: Visual Odometry for Mobile Robots: Motion Estimation from Imagery
Couverture souple
ISBN 10 : 3838364384 ISBN 13 : 9783838364384
Editeur : LAP LAMBERT Academic Publishing, 2010

Synopsis

Visual odometry makes use of an image sequence to estimate the motion of a robot and optionally the structure of the world. The low-cost and small-size of cameras, combined with the high-information content of the images they capture make them ideal for robot platforms. The output of the algorithm is a 3D map of the environment as well as camera/robot trajectory suitable for mobile robots localization and navigation tasks. In this manuscript we explain visual odometry in all of its details, starting with the basic camera projection and ending with non-linear motion and structure refinement. We compare different approaches within this framework and show that relative orientation is superior to using absolute orientation for the pose estimation problem. Secondly, we introduce a novel track selection process that improves the fault tolerance of SBA to short baseline feature tracks.

Les informations fournies dans la section « Synopsis » peuvent faire référence à une autre édition de ce titre.

Présentation de l'éditeur

Visual odometry makes use of an image sequence to estimate the motion of a robot and optionally the structure of the world. The low-cost and small-size of cameras, combined with the high-information content of the images they capture make them ideal for robot platforms. The output of the algorithm is a 3D map of the environment as well as camera/robot trajectory suitable for mobile robots localization and navigation tasks. In this manuscript we explain visual odometry in all of its details, starting with the basic camera projection and ending with non-linear motion and structure refinement. We compare different approaches within this framework and show that relative orientation is superior to using absolute orientation for the pose estimation problem. Secondly, we introduce a novel track selection process that improves the fault tolerance of SBA to short baseline feature tracks.

Les informations fournies dans la section « A propos du livre » peuvent faire référence à une autre édition de ce titre.

Éditeur
LAP LAMBERT Academic Publishing
Date d'édition
2010
Langue
anglais
ISBN 10 
3838364384
ISBN 13 
9783838364384
Reliure
Broché
Nombre de pages
68
Coordonnées du fabricant
non disponible
Personne responsable
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