Robust embedded egomotion estimation

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2011, Pages 2694-2699

  Voigt, Rainer ^a   Nikolic, Janosch ^b   Hürzeler, Christoph ^b   Weiss, Stephan ^b   Kneip, Laurent ^b   Siegwart, Roland ^b  

^a Robotics Systems and Control   (Switzerland)

^b ETH ZURICH   (Switzerland)

Author keywords

Egomotion Estimation; Extended Kalman Filter; Stereo Vision; Vision IMU Fusion; Visual Odometry

Indexed keywords

AERIAL VEHICLE; EGO-MOTION; EGO-MOTION ESTIMATION; EMBEDDED PLATFORMS; GRAVITY VECTORS; GROUND TRUTH; INDOOR ENVIRONMENT; INDUSTRIAL ENVIRONMENTS; INDUSTRIAL SCENARIOS; INERTIAL SENSOR; OUTLIER DETECTION; PERFORMANCE EVALUATION; REAL TIME; TIGHTLY-COUPLED; TRACKING SYSTEM; VISUAL FEATURE; VISUAL ODOMETRY;

EMBEDDED SYSTEMS; ESTIMATION; EXTENDED KALMAN FILTERS; INTELLIGENT ROBOTS; MOTION ESTIMATION; ROBOTICS;

STEREO VISION;

EID: 84455205999     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2011.6048855     Document Type: Conference Paper

References (15)

1. M. Achtelik, A. Bachrach, R. He, S. Prentice, and N. Roy, "Stereo vision and laser odometry for autonomous helicopters in gps-denied indoor environments," in Proceedings of the SPIE Unmanned Systems Technology XI, vol. 7332, Orlando, F, 2009.
2. M. Blösch, S. Weiss, D. Scaramuzza, and R. Siegwart, "Vision based mav navigation in unknown and unstructured environments," in Robotics and Automation (ICRA), 2010 IEEE International Conference on, 2010, pp. 21-28.
3. D. Scaramuzza, F. Fraundorfer, and R. Siegwart, "Real-time monocular visual odometry for on-road vehicles with 1-point ransac," in Proceedings of the 2009 IEEE international conference on Robotics and Automation, ser. ICRA'09. Piscataway, NJ, USA: IEEE Press, 2009, pp. 488-494. [Online]. Available: http://portal.acm.org/citation.cfm?id=1703435.1703515
4. M. Cummins and P. Newman, "Highly scalable appearance-only SLAM - FAB-MAP 2.0," in Proceedings of Robotics: Science and Systems, Seattle, USA, June 2009.
5. K. Konolige, M. Agrawal, and J. Solà, "Large scale visual odometry for rough terrain," in In Proc. International Symposium on Robotics Research, 2007.
6. K. Konolige and M. Agrawal, "Frameslam: from bundle adjustment to realtime visual mappping," 2008.
7. E. Rosten and T. Drummond, "Machine learning for highspeed corner detection," in European Conference on Computer Vision, vol. 1, May 2006, pp. 430-443. [Online]. Available: http://mi.eng.cam.ac.uk/ er258/work/rosten- 2006-machine.pdf
8. M. Calonder, V. Lepetit, C. Strecha, and P. Fua, "Brief: binary robust independent elementary features," in Proceedings of the 11th European conference on Computer vision: Part IV, ser. ECCV'10. Berlin, Heidelberg: Springer-Verlag, 2010, pp. 778-792. [Online]. Available: http://portal.acm.org/citation.cfm?id=1888089.1888148
9. M. A. Fischler and R. C. Bolles, "Random sample consensus: A paradigm for model fitting with applications to image analysis and automated cartography," Communications of the ACM, vol. 24, no. 6, pp. 381-395, 1981.
10. L. Kneip, D. Scaramuzza, and R. Siegwart, "A novel parameterization of the perspective-three-point problem for a direct computation of absolute camera position and orientation," 2011, submitted International Conference on Computer Vision and Pattern Recognition.
11. K. Konolige, "Sparse sparse bundle adjustment," in Proceedings of the British Machine Vision Conference. BMVA Press, 2010, pp. 102.1-102.11, doi:10.5244/C.24.102.
12. S. I. Roumeliotis and J.W. Burdick, "Stochastic cloning: A generalized framework for processing relative state measurements."
13. A. I. Mourikis and S. I. Roumeliotis, "On the treatment of relativepose measurements for mobile robot localization," in in Proc. IEEE Int. Conf. on Robotics and Automation, pp. 15-19.
14. N. Trawny and S. Roumeliotis, Indirect Kalman filter for 3D attitude estimation. University of Minnesota, Department of Computing Science and Engineering, 2005.
15. S. Lupashin, A. Schöllig, M. Sherback, and R. D'Andrea, "A simple learning strategy for high-speed quadrocopter multi-flips," 2010, pp. 1642-1648.