Dynamic stereo vision
Introduction to Autonomous Mobile Robots
Introduction to Autonomous Mobile Robots
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Learning and prediction of slip from visual information: Research Articles
Journal of Field Robotics - Special Issue on Space Robotics
International Journal of Computer Vision
An appearance-based visual compass for mobile robots
Robotics and Autonomous Systems
Template Matching Techniques in Computer Vision: Theory and Practice
Template Matching Techniques in Computer Vision: Theory and Practice
Practical visual odometry for car-like vehicles
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
A visual odometry framework robust to motion blur
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Efficient vision-based navigation
Autonomous Robots
A Two-Stage Cross Correlation Approach to Template Matching
IEEE Transactions on Pattern Analysis and Machine Intelligence
Hi-index | 0.00 |
In this paper, we present the work related to the application of a visual odometry approach to estimate the location of mobile robots operating in off-road conditions. The visual odometry approach is based on template matching, which deals with estimating the robot displacement through a matching process between two consecutive images. Standard visual odometry has been improved using visual compass method for orientation estimation. For this purpose, two consumer-grade monocular cameras have been employed. One camera is pointing at the ground under the robot, and the other is looking at the surrounding environment. Comparisons with popular localization approaches, through physical experiments in off-road conditions, have shown the satisfactory behavior of the proposed strategy.