Practical visual odometry for car-like vehicles

Authors:
Navid Nourani-Vatani;Jonathan Roberts;Mandiam V. Srinivasan
Affiliations:
Autonomous Systems Laboratory, CSIRO ICT Centre, QLD, Australia and Queensland Brain Institute, University of Queensland, QLD, Australia;Autonomous Systems Laboratory, CSIRO ICT Centre, QLD, Australia;Queensland Brain Institute, University of Queensland, QLD, Australia
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

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Abstract

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.