Development of a Visual Odometry System for a Wheeled Robot on Loose Soil using a Telecentric Camera

Nagatani, Keiji; Ikeda, Ayako; Ishigami, Genya; Yoshida, Kazuya; Nagai, Isaku

doi:10.1163/016918610x501282

Cited by 18 publications

(36 citation statements)

References 7 publications

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“…This approach is a non-contact method for the effective positioning of mobile robots, particularly in outdoor applications (Nagatani et al 2010). For autonomous navigation, a robot needs to track its own position and motion.…”

Section: Localization Sensors and Techniquesmentioning

confidence: 99%

Review of visual odometry: types, approaches, challenges, and applications

et al. 2016

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Accurate localization of a vehicle is a fundamental challenge and one of the most important tasks of mobile robots. For autonomous navigation, motion tracking, and obstacle detection and avoidance, a robot must maintain knowledge of its position over time. Vision-based odometry is a robust technique utilized for this purpose. It allows a vehicle to localize itself robustly by using only a stream of images captured by a camera attached to the vehicle. This paper presents a review of state-of-the-art visual odometry (VO) and its types, approaches, applications, and challenges. VO is compared with the most common localization sensors and techniques, such as inertial navigation systems, global positioning systems, and laser sensors. Several areas for future research are also highlighted.

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Section: Localization Sensors and Techniquesmentioning

confidence: 99%

Review of visual odometry: types, approaches, challenges, and applications

et al. 2016

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“…This stereo system permits the height variation existing in non-flat terrains to be compensated for. A smart solution for increasing the applicability of downward-looking cameras to uneven terrain conditions appears in [17,18]. In particular, a telecentric lens is inserted in front of the camera head.…”

Section: Related Workmentioning

confidence: 99%

Improving Robot Mobility by Combining Downward-Looking and Frontal Cameras

2016

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This paper presents a novel attempt to combine a downward-looking camera and a forward-looking camera for terrain classification in the field of off-road mobile robots. The first camera is employed to identify the terrain beneath the robot. This information is then used to improve the classification of the forthcoming terrain acquired from the frontal camera. This research also shows the usefulness of the Gist descriptor for terrain classification purposes. Physical experiments conducted in different terrains (quasi-planar terrains) and different lighting conditions, confirm the satisfactory performance of this approach in comparison with a simple color-based classifier based only on frontal images. Our proposal substantially reduces the misclassification rate of the color-based classifier (∼10% versus ∼20%).

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“…27 Recently, a novel approach consists in using telecentric cameras. 31 These cameras are electronically modified in such a way that the lens keeps the https:/www.cambridge.org/core/terms. https://doi.org/10.1017/S026357471100110X same field of view, regardless of the distance between the camera and the ground.…”

Section: Estimating Robot Displacementmentioning

confidence: 99%

Combined visual odometry and visual compass for off-road mobile robots localization

et al. 2011

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SUMMARYIn this paper, we present the work related to the application of a visual odometry approach to estimate the location of mobile robots operating in off-road conditions. The visual odometry approach is based on template matching, which deals with estimating the robot displacement through a matching process between two consecutive images. Standard visual odometry has been improved using visual compass method for orientation estimation. For this purpose, two consumer-grade monocular cameras have been employed. One camera is pointing at the ground under the robot, and the other is looking at the surrounding environment. Comparisons with popular localization approaches, through physical experiments in off-road conditions, have shown the satisfactory behavior of the proposed strategy.

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Development of a Visual Odometry System for a Wheeled Robot on Loose Soil using a Telecentric Camera

Cited by 18 publications

References 7 publications

Review of visual odometry: types, approaches, challenges, and applications

Review of visual odometry: types, approaches, challenges, and applications

Improving Robot Mobility by Combining Downward-Looking and Frontal Cameras

Combined visual odometry and visual compass for off-road mobile robots localization

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