NDLI: Hopping Odometry: Motion Estimation with Selective Vision

Content Provider	IEEE Xplore Digital Library
Author	So, E.W.Y. Yoshimitsu, T. Kubota, T.
Copyright Year	2009
Description	Author affiliation: Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency, 3-1-1 Yoshinodai, Sagamihara-shi, 229-8510, Japan (Yoshimitsu, T.; Kubota, T.) \|\| School of Physical Sciences, Department of Space and Astronautical Science, The Graduate University for Advanced Studies, 3-1-1 Yoshinodai, Sagamihara-shi, 229-8510, Japan (So, E.W.Y.)
Abstract	We present a two-step iterative algorithm to estimate the trajectory of a hopping rover. In the first step, a monocular scheme of visual odometry is adapted to estimate an initial portion the hopping trajectory. From this, the parameters for the ballistic motion are recovered, and the trajectory is extrapolated to predict the positions of the rover for the remainder of the hop. In the second step, we devise a scheme called “selective vision”, combining the ideas of active vision and guided search. An envelope lying between the start and end of a hop is defined, within which features most likely to be re-observed across a hop are detected and matched. Performing pose estimation on the these matched features allow the relative motion between a camera frame within the visual odometry step and a camera frame within the extrapolated trajectory to be estimated. The newly determined camera frame in the extrapolated trajectory can then be used to refine the parameters of the ballistic motion, and the trajectory can be re-extrapolated to predict future positions of the hopping rover. Following this scheme, it is possible to estimate the trajectory of a hopping rover undergoing continuous rotational motion with only one set of cameras without continuous tracking of terrain features.
Starting Page	3808
Ending Page	3813
File Size	532420
Page Count	6
File Format	PDF
ISBN	9781424438037
DOI	10.1109/IROS.2009.5354065
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motion estimation Mobile robots Trajectory Cameras Radio navigation Extraterrestrial measurements Robot kinematics Mars Intelligent robots USA Councils
Content Type	Text
Resource Type	Article

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