NDLI: Integrating visual odometry and dead-reckoning for robot localization and obstacle detection

Content Provider	IEEE Xplore Digital Library
Author	Cobos, J. Pacheco, L. Cufi, X. Caballero, D.
Copyright Year	2010
Description	Author affiliation: Institute of Informatics and Applications, University of Girona, Spain (Cobos, J.; Pacheco, L.; Cufi, X.; Caballero, D.)
Abstract	The research presented introduces a new methodology to infer environment structure and robot localization by using a monocular machine vision system. The local field of view is constrained to the vicinity of the mobile robot in order to accomplish with robust navigation issues. The strategy proposed uses optical flow techniques and planar models to obtain qualitative 3D information and robot localization by using time integration series of acquired frames. In this way, different space resolution and meaningful corner information are considered. The different significant image points are correlated from camera pose knowledge and odometer data. The robot localization is achieved combining on board and visual odometer systems for reducing dead reckoning problems. Therefore, the two system errors are compared in a parallel process that selects the most accurate robot localization. Moreover, it is used to infer qualitative 3D information, when mismatches between both odometer systems are produced, due to the fact that the planar floor model is not accomplished. In this context, experimental results that reinforce the effectivity of the work developed are reported by using the available lab mobile platform. Other remarkable features of the strategy presented are its simplicity and the low computational cost.
Starting Page	1
Ending Page	6
File Size	1383865
Page Count	6
File Format	PDF
ISBN	9781424467242
e-ISBN	9781424467259
DOI	10.1109/AQTR.2010.5520874
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-28
Publisher Place	Romania
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Integrated optics localization Dead reckoning Navigation monocular vision Robot vision systems autonomous mobile robots Mobile robots Image motion analysis navigation Machine vision colision avoidance Cameras Robot localization Robustness
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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