Ten-fold improvement in visual odometry using landmark matching

Proceedings of the IEEE International Conference on Computer Vision

Volumn , Issue , 2007, Pages

  Zhu, Zhiwei ^a   Oskiper, Taragay ^a   Samarasekera, Supun ^a   Kumar, Rakesh ^a   Sawhney, Harpreet S ^a  

^a SARNOFF CORPORATION   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

VISUAL ODOMETRY;

ARTIFICIAL INTELLIGENCE; COMPUTER NETWORKS; COMPUTER VISION; ERROR ANALYSIS; IMAGE PROCESSING; INERTIAL NAVIGATION SYSTEMS; LEARNING SYSTEMS; LOCATION; NAVIGATION; WEARABLE COMPUTERS;

COMPUTER SYSTEMS;

EID: 50649083083     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICCV.2007.4409062     Document Type: Conference Paper

References (16)

1. P. Corke, D. Strelow, and S. Singh. Omnidirectional visual odometry for a planetary rover. In IEEE Conference on IRS'04, 2004.
2. N. Dalal and B. Triggs. Histograms of oriented gradients for human detection. In IEEE Conference on CVPR'05, 2005.
3. R. Hartley and A. Zisserman. Multiple View Geometry in Computer Vision. Cambridge University Press, 2000.
4. A. Johnson, J. Montgomery, and L. Matthies. Vision guided landing of an autonomous helicopter in hazardous terrain. In IEEE Conference on ICRA'05, 2005.
5. K. Konolige, M. Agrawal, R. C. Bolles, C. Cowan, M. Fischler, and B. Gerkey. Outdoor mapping and navigation using stereo vision. In International Symposium on Experimental Robotics, 2006.
6. J. Kosecka, L. Zhou, P. Barber, and Z. Duric. Qualitative image based localization in indoors environments. In IEEE Conference on CVPR'03, 2003.
7. A. Milella and R. Siegwart. Stereo-based ego-motion estimation using pixel tracking and iterative closest point. Proceedings of the Fourth IEEE International Conference on Computer Vision Systems, ICVS'06, 2006, 2006, pp 21, Article number 1578709
8. D. Nister, O. Naroditsky, and J. Bergen. Visual odometry. In IEEE Conference on CVPR'04, 2004.
9. D. Nister and H. Stewenius. Scalable recognition with a vocabulary tree. In IEEE Conference on CVPR'06, 2006.
10. C. Olson, L. Matthies, M. Schoppers, and M. Maimone. Rover navigation using stereo ego-motion. Robotics and Autonomous Systems, 43(4):215-229, 2003.
11. T. Oskiper, Z. Zhu, S. Samarasekera, and R. Kumar. Visual odometry system using multiple stereo cameras and inertial measurement unit. In IEEE Conference on CVPR'07, 2007.
12. S. Roumeliotis, A. Johnson, and J. Montgomery. Augmenting inertial navigation with image-based motion estimation. In IEEE Conference on ICRA'02, 2002.
13. S. Se, D. Lowe, and J. Little. Global localization using distinctive visual features. In IEEE Conference on IRS, 2002.
14. J. Sivic and A. Zisserman. Video google: a text retrieval approach to object matching in videos. In IEEE Conference on ICCV'03, 2003.
15. A. Torralba, K. Murphy, W. Freeman, and M. Rubin. Context-based vision system for place and object recognition. In IEEE Conference on ICCV'03, 2003.
16. Z. Zhu, T. Oskiper, O. Naroditsky, S. Samarasekera, H. S. Sawhney, and R. Kumar. An improved stereo-based visual odometry system. In Proceedings of the Performance Metrics for Intelligent Systems (PerMIS'06), 2006.