Uncalibrated Visual Odometry for Ground Plane Motion Without Auto-calibration

Vincenzo Caglioti; Simone Gasparini

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Paper

Uncalibrated Visual Odometry for Ground Plane Motion Without Auto-calibration

In Robot Vision - Volume 0VISAPP, 107-116, 2007 , Barcelona, Spain

Authors: Vincenzo Caglioti and Simone Gasparini

Affiliation: Politecnico di Milano, Italy

Abstract: In this paper we present a technique for visual odometry on the ground plane, based on a single, uncalibrated fixed camera mounted on a mobile robot. The odometric estimate is based on the observation of features (e.g., salient points) on the floor by means of the camera mounted on the mobile robot. The presented odometric technique produces an estimate of the transformation between the ground plane prior to a displacement and the ground plane after the displacement. In addition, the technique estimates the homographic transformation between ground plane and image plane: this allows to determine the 2D structure of the observed features on the ground. A method to estimate both transformations from the extracted points of two images is presented. Preliminary experimental activities show the effectiveness and the accuracy of the proposed method which is able to handle both relatively large and small rotational displacements.

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Paper citation in several formats:

Caglioti, V. and Gasparini, S. (2007). Uncalibrated Visual Odometry for Ground Plane Motion Without Auto-calibration. In Robot Vision (VISAPP 2007) - Robot Vision; ISBN 978-972-8865-76-4, SciTePress, pages 107-116. DOI: 10.5220/0002067301070116

@conference{robot vision07,
author={Vincenzo Caglioti. and Simone Gasparini.},
title={Uncalibrated Visual Odometry for Ground Plane Motion Without Auto-calibration},
booktitle={Robot Vision (VISAPP 2007) - Robot Vision},
year={2007},
pages={107-116},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002067301070116},
isbn={978-972-8865-76-4},
}

TY - CONF

JO - Robot Vision (VISAPP 2007) - Robot Vision
TI - Uncalibrated Visual Odometry for Ground Plane Motion Without Auto-calibration
SN - 978-972-8865-76-4
AU - Caglioti, V.
AU - Gasparini, S.
PY - 2007
SP - 107
EP - 116
DO - 10.5220/0002067301070116
PB - SciTePress