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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Piyathilaka, L. Munasinghe, R. |
| Copyright Year | 2010 |
| Description | Author affiliation: Department of Electronic and Telecommunication Engineering University of Moratuwa, Katubadda, Sri Lanka (Piyathilaka, L.; Munasinghe, R.) |
| Abstract | Position estimation using wheel odometric systems tends to give rather poor performances for an outdoor four-wheel skid steered mobile robot. Therefore autonomous control of these vehicles is extremely challenging in outdoor environments. This paper describes an outdoor localization system based on visual odometry for skid steered vehicle using forward faced camera and a downward faced camera. Optical flow field data is statistically analyzed to correctly estimate the position of the robot. Kalman Filtering is used to fuse data from two cameras for optimum performance. Also real-time Instantaneous Center of Rotation (ICR) detection using optical flow field data is proposed to calculate the heading angle. Two consumer grade cameras were used and algorithm was tested using open source image processing libraries. The proposed system yielded an acceptable positioning accuracy on short runs in typical outdoor terrains. |
| Starting Page | 189 |
| Ending Page | 194 |
| File Size | 461461 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424485499 |
| e-ISBN | 9781424485529 |
| DOI | 10.1109/ICIAFS.2010.5715658 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2010-12-17 |
| Publisher Place | Sri Lanka |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Integrated optics Visualization Image motion analysis Computer vision Robot vision systems Cameras visual odometry skid steered vehicle outdoor localization multi-camera system |
| Content Type | Text |
| Resource Type | Article |
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