Robot localization based on visual odometry

DOI

10.2991/icmmct-17.2017.9How to use a DOI?

Keywords

Localization, Viusal Odometry, Feature, Direct,Motion Estimation.

Abstract

With the development of computer vision technology, the positioning technology based on vision sensor had drawn more and more attentions. There were two kinds of visual odometry technologies through the image information for motion estimation to obtain the attitude information, one of them was based on the feature points and the other one was the direct method without the feature points .In recent years,many scholars approached various of methods and visual odometry algorithm based on the image data but no one is perfect.KinectV1, as a high-performance RGB-D sensor, could capture both color and depth images. The evaluation about two kinds of visual odometry technologies based on KinectV1 sensor was carried out.A summary and analysis for the robustness and accuracy problem was studied and researched. The results of evaluation showed that the method based on feature points could be applied to the environment riched in features,and the direct method is more robust in the environment of visual feature degradation.

Copyright

© 2017, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Dan Wu
PY  - 2017/04
DA  - 2017/04
TI  - Robot localization based on visual odometry
BT  - Proceedings of the 2017 5th International Conference on Machinery, Materials and Computing Technology (ICMMCT 2017)
PB  - Atlantis Press
SP  - 37
EP  - 44
SN  - 2352-5401
UR  - https://doi.org/10.2991/icmmct-17.2017.9
DO  - 10.2991/icmmct-17.2017.9
ID  - Wu2017/04
ER  -