Real-time localization in outdoor environments using stereo vision and inexpensive GPS

Proceedings - International Conference on Pattern Recognition

Volumn 3, Issue , 2006, Pages 1063-1068

  Agrawal, Motilal ^a   Konolige, Kurt ^a  

^a SRI INTERNATIONAL   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

INERTIAL MEASUREMENTS; OUTDOOR ENVIRONMENTS; REAL TIME LOCALIZATION; VISUAL ODOMETRY;

GLOBAL POSITIONING SYSTEM; KALMAN FILTERS; MOBILE ROBOTS; MOTION ESTIMATION; STEREO VISION;

REAL TIME SYSTEMS;

EID: 34147129075     PISSN: 10514651     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICPR.2006.962     Document Type: Conference Paper

References (23)

1. M. Agrawal, K. Konolige, and L. Iocchi. Real-time detection of independent motion using stereo. In IEEE workshop on Motion (WACV/MOTION), January 2005.
2. D. Bouvet, M. Froumentin, and G. Garcia. A real-time localization system, for compactors. Automation in Construction, 10:417-428, 2001.
3. J. Campbell, R. Sukthankar, and I. Nourbakhsh. Techniques for evaluating optical flow for visual odometry in extreme terrain. In Proceedings of International Robotics Symposium, October 2004.
4. A. Davison. Real-time simultaneaous localisation and mapping with a single camera. In Proc. International Conference on Computer Vision (ICCV), pages 1403-1410, 2003.
5. D. Demirdjian and T. Darrell. Motion estimation from disparity images. In Proc. International Conference, on Computer Vision, volume 1. pages 213-218, July 2001.
6. M. Fischler and R. Bolles. Random sample consensus: a paradigm for model fitting with application to image analysis and automated cartography. Commun. ACM., 24:381-395, 1981.
7. H. H. Gonzalez-Banos and J. C. Latombe. Navigation strategies for exploring indoor environments. International Journal of Robotics Research. 21(10-11):829-848, Oct-Nov 2002.
8. C. Harris and M. Stephens. A combined corner and edge detector. In Alvey Vision Conference, pages 147-151, 1988.
9. K. Konolige. Large-scale map-making. In Proceedings of the National Conference. on AI (AAAI), 2004.
10. P. Lamon and R. Siegwart. 3d-odometry for rough terrain - towards real 3d navigation. In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), May 2003.
11. D. G. Lowe. Distinctive image features from scale-invariant keypoints. International Journal of Computer Vision, 60(2):91-110, 2004.
12. B. Matei and P. Meer. Optimal rigid motion estimation and performance evaluation with bootstrap. In Proc. Computer Vision and Pattern Recognition Conference, pages 339-345, 1999.
13. L.-P. Morency and R. Gupta. Robust real-time egomotion from stereo images. In Proc. International Conference on Image Processing, 2003.
14. D. Nister. An efficient solution to the five-point relative pose problem. IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI), 26(6):756-770, June 2004.
15. D. Nister, O. Naroditsky, and J. Bergen. Visual, odometry. In Proc. IEEE Conference on Computer Vision and Pattern Recognition. June 2004.
16. K. Ohno, T. Tsubouchi. B. Shigematsu, and S. Yuta. Differential gps and odometry-based outdoor navigation of a mobile robot. Advanced Robotics, 18(6):611-635, 2004.
17. C. F. Olson, L. H. Matthies, M. Schoppers, and M. W. Maimone. Robust stereo ego-motion for long distance navigation. In Proc. IEEE Conference on Computer Vision and Pattern Recognition, volume 2, pages 453-458, 2000.
18. E. Royer, M. Lhuillier, M. Dhome, and T. Chateau. Localization in urban environments: monocular vision compared to a differential gps sensor. In Proc. IEEE Conference on Computer Vision and Pattern Recognition (CVPR), June 2005.
19. S. Se, D. Lowe, and J. Little. Mobile robot localization and mapping with uncertainty using scale-invariant visual land-marks. International Journal of Robotic Research, 21:735-758, August 2002.
20. J. D. Tards, J. Neira, P. M. Newman, and J. J. Leonard. Robust mapping and localization in indoor environments using sonar data. International. Journal of Robotics Research, 21(4):311-330, 2002.
21. S. Thrun. Robotic mapping: A survey. In G. Lakemeyer and B. Nebel, editors, Exploring Artificial Intelligence in the New Millenium. Morgan Kaufmann, 2002.
22. S. Thrun, D. Hahnel, D. Ferguson, M. Montemerlo, R. Triebel, W. Burgard, C. Baker, Z. Omohundro, S. Thayer, and W. Whittaker. A system for volumetric robotic mapping of abandoned mines. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2003.
23. S. Umeyama. Least-squares estimation of transformation parameters between two point patterns. IEEE Trans. Pattern Analysis and Machine Intelligence, 13(4), April 1991.