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Authors: Michael Schweitzer ; Alois Unterholzner and Hans-Joachim Wuensche

Affiliation: Universität der Bundeswehr München, Germany

ISBN: 978-989-674-028-3

Keyword(s): Robot Vision, GPGPU, Structure from motion.

Related Ontology Subjects/Areas/Topics: Active and Robot Vision ; Applications ; Computer Vision, Visualization and Computer Graphics ; Feature Extraction ; Features Extraction ; Human-Computer Interaction ; Image and Video Analysis ; Image Formation and Preprocessing ; Informatics in Control, Automation and Robotics ; Matching Correspondence and Flow ; Methodologies and Methods ; Motion and Tracking ; Motion, Tracking and Stereo Vision ; Multi-View Geometry ; Pattern Recognition ; Physiological Computing Systems ; Real-Time Vision ; Signal Processing, Sensors, Systems Modeling and Control ; Stereo Vision and Structure from Motion

Abstract: This paper introduces a novel visual odometry framework for ground moving robots. Recent work showed that assuming non-holonomic motion can simplify the ego motion estimation task to one yaw and one scale parameter. Furthermore, a very efficient way of computing image frame to frame correspondences for those robots was presented by skipping rotational invariance and optimizing keypoint extraction and matching for massive parallelism on a GPU. Here, we combine both contributions to a closed framework. Long term correpondences are preserved, classified and stablized by motion prediction, building up and keeping a trusted map of depth-registered keypoints. We also allow other ground moving objects. From this map, the ego motion is infered, extended by constrained rotational perturbations in pitch and roll. A persistent focus is on keeping algorithms suitable for parallelization and thus achieving up to one hundred frames per second. Experiments are carried out to compare against ground-truth given by DGPS and IMU data. (More)

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Paper citation in several formats:
Schweitzer M.; Unterholzner A.; Wuensche H. and (2010). REAL-TIME VISUAL ODOMETRY FOR GROUND MOVING ROBOTS USING GPUS.In Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2010) ISBN 978-989-674-028-3, pages 20-27. DOI: 10.5220/0002821200200027

@conference{visapp10,
author={Michael Schweitzer and Alois Unterholzner and Hans{-}Joachim Wuensche},
title={REAL-TIME VISUAL ODOMETRY FOR GROUND MOVING ROBOTS USING GPUS},
booktitle={Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2010)},
year={2010},
pages={20-27},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002821200200027},
isbn={978-989-674-028-3},
}

TY - CONF

JO - Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2010)
TI - REAL-TIME VISUAL ODOMETRY FOR GROUND MOVING ROBOTS USING GPUS
SN - 978-989-674-028-3
AU - Schweitzer, M.
AU - Unterholzner, A.
AU - Wuensche, H.
PY - 2010
SP - 20
EP - 27
DO - 10.5220/0002821200200027

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