NDLI: Practical ego-motion estimation for mobile robots

Content Provider	IEEE Xplore Digital Library
Author	Scharer, S. Baltes, J. Anderson, J.
Copyright Year	2004
Description	Author affiliation: Dept. of Electr. & Comput. Eng., Manitoba Univ., Canada (Scharer, S.)
Abstract	Accurate ego-motion estimation is a difficult problem that humans perform with relative ease. This paper describes two methods that are used in conjunction to estimate the ego motion of an intelligent autonomous vehicle from vision alone. First, a cross-correlation method is used to select a promising patch in the image. The optical flow information for this patch is used to determine linear and angular velocity of the intelligent autonomous vehicle. Lines in the image are then used to provide an estimate of the ego motion of the vehicle. The gradient of the line as well as the distance to the line allow the computation of current wheel velocities. Both methods have been implemented on real robots and have been tested in a treasure hunt competition. These methods greatly improved the exploration as well as accuracy of the generated maps of the environment.
Starting Page	921
Ending Page	926
File Size	922375
Page Count	6
File Format	PDF
ISBN	0780386450
DOI	10.1109/RAMECH.2004.1438041
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-12-01
Publisher Place	Singapore
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Remotely operated vehicles Motion estimation Intelligent robots Intelligent vehicles Humans Image motion analysis Angular velocity Wheels Testing
Content Type	Text
Resource Type	Article

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