Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Real-Time Simultaneous Localisation and Mapping with a Single Camera
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
A Performance Evaluation of Local Descriptors
IEEE Transactions on Pattern Analysis and Machine Intelligence
Fast point features for accurate visual odometry
ICS'08 Proceedings of the 12th WSEAS international conference on Systems
SURF: speeded up robust features
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part I
Selecting feature detectors for accurate visual odometry
WSEAS Transactions on Circuits and Systems
Multi-robot map alignment in visual SLAM
WSEAS TRANSACTIONS on SYSTEMS
NENA 1.0: novel extended nuclear application for the safekeeping of contamination-free environments
WSEAS Transactions on Systems and Control
Comparison of feature detectors for rover navigation
MMACTEE'09 Proceedings of the 11th WSEAS international conference on Mathematical methods and computational techniques in electrical engineering
Improving the accuracy of visual odometry from point features
VIS '10 Proceedings of the 3rd WSEAS international conference on Visualization, imaging and simulation
| Hi-index | 0.00 |
The object of visual odometry is the computation of the path of a rover from onboard passive vision data only. The approach presented here relies on the accumulation of ego-motion estimates obtained by stereo vision and bundle adjustment of tracked feature points. We also propose a new feature detector/descriptor, which is a simplified and faster form of other well known descriptors (SURF). For cyclic paths, a déjà vu mechanism allows further control over the accumulated error. Tests on real-world data show that our descriptors are effective for accurate path estimation, while being fast enough for use in tasks such as autonomous planetary exploration.