High resolution relative localisation using two cameras

Authors:
Munir Zaman
Affiliations:
School of Electronics and Physical Sciences, University of Surrey, Guildford GU2 7XH, UK
Venue:
Robotics and Autonomous Systems
Year:
2007

Citing 1
Cited 1

The Problem of Degeneracy in Structure and Motion Recovery from Uncalibrated Image Sequences

International Journal of Computer Vision - 1998 Marr Prize

Editorial: Mobile robotics in the UK and worldwide: Fast changing, and as exciting as ever

Robotics and Autonomous Systems

Quantified Score

Hi-index	0.00

Visualization

Abstract

Wheel odometry is a common method for high resolution relative localisation. However, wheel odometry relies on the integrity and accuracy of a kinematic model. In this paper, a new method for relative localisation, 'visiodometry', which does not rely on a kinematic model, is proposed. The system consists of two ground-facing cameras mounted on either side of the robot. From the sequence of images acquired, the relative change in pose of the robot is estimated using a phase correlation based method. Results on a plain coloured carpeted surface, show that the method provides a truly odometric type sensor data input similar in modality and resolution to wheel odometry. A method to calibrate the visiodometry system using a 1D object is also presented.