Research on stereo vision odometry

Abstract

The stereo visual odometer in vision based on the navigation system is proposed in the paper. The stereo visual odometer can obtain the motion data to implement the position and attitude estimation of ALV(Autonomous Land Vehicle). Two key technology in the stereo vision odometer are dissertated. The first is using SIFT (Scale Invariant Feature Transform) to extract suitable feature, match points pairs in the feature, and track the feature of fore and after frames of the same point on the object. The second is using matching and tracking to obtain the different 3-D coordinate of the feature of the point on the object, and to compute the motion parameters by motion estimate. The unknown outdoor environment is adopted in the experiment. The results show that the stereo vision odometer is more accurate, and the measurement error dose not increase with the movement distance increasing. It can be used as an important supplement of conventional odometer.