Visual odometry aided by a sun sensor and inclinometer

Lambert, Andrew; Furgale, Paul; Barfoot, Timothy D.; Enright, John

doi:10.1109/aero.2011.5747268

Cited by 21 publications

(10 citation statements)

References 28 publications

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“…It is in this context, in which the sun and other celestial features like polarized skylight can provide most valuable orientation cues (Lambert et al 2011). If the behavior of the animal involves prolonged straight segments or a central point to which it has to return, having a global frame of reference is of great importance for ensuring accuracy.…”

Section: Putting Polarized Light Into Contextmentioning

confidence: 99%

Polarized-Light Processing in Insect Brains: Recent Insights from the Desert Locust, the Monarch Butterfly, the Cricket, and the Fruit Fly

Heinze

2014

Polarized Light and Polarization Vision in Animal Sciences

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The pattern of linearly polarized light in the sky can be used for orientation behavior by many insects. Although such behavioral responses have been well described in bees and ants over several decades, until recently it remained largely elusive how polarized-light information is processed in the insect brain. However, over the last decade, substantial advances in understanding polarizedlight processing have been made, based on behavioral, electrophysiological, and anatomical data. Particularly, progress was made in the desert locust, but based on comparative work in the field cricket, the monarch butterfly, and the fruit fly broader conclusions about how polarized-light information is encoded in the insect brain in general begin to emerge. After polarized light is detected by photoreceptors of specialized parts of the compound eye, this information passes through the optic lobe, the anterior optic tubercle, and the central complex. In these brain regions, detailed neural responses to polarized light have been characterized in a large set of anatomically defined neurons that together comprise the polarization vision network. This work has begun to unravel how polarized light is integrated with unpolarized light, and how response characteristics of involved neurons are modulated in context-dependent ways. Eventually, all skylight cues appear to be combined to generate a neural representation of azimuthal space around the animal in the central complex of the brain, which could be used as a basis for directed behavior. Polarized-light information is likely contributing to such a representation in many insects and thus this modality could be crucial for illuminating how the insect brain in general encodes the position of the animal in space, a task that all animal brains have to master. 61 62 S. Heinze therefore POL1 neurons could act as three analyzer channels, was strong support for the hypothesis of instantaneous E-vector detection. A decade later, it was shown by work from the laboratory of Uwe Homberg that the cricket was not the only species in which polarization-sensitive neurons could be analyzed (Homberg and Würden 1997;Vitzthum et al. 2002). In the desert locust (Schistocerca gregaria), several types of neurons were described that also responded to changes in E-vector orientation. Most of these cells were located in the center of the brain in a region called the central complex. It therefore became evident that the complexity of the neural network involved in processing of polarized light was substantial, and much effort was since put into the task of describing additional neural elements that together constitute the polarization vision network of the insect brain.The main scope of this chapter is to summarize the work over the last decade that immensely widened our knowledge about how polarized light is processed in the brain of insects, particularly in the desert locust, but also in the cricket, in the monarch butterfly (Danaus plexippus), and-very recently-in the fruit fly Drosophila melanogaster. The e...

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Section: Putting Polarized Light Into Contextmentioning

confidence: 99%

Polarized-Light Processing in Insect Brains: Recent Insights from the Desert Locust, the Monarch Butterfly, the Cricket, and the Fruit Fly

Heinze

2014

Polarized Light and Polarization Vision in Animal Sciences

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“…As discussed in [20], this range measurement bias has a strong influence on motion estimation. Their experimental result claims that the improper selection of feature points may cause the bias error in motion estimation.…”

Section: B Range Uncertainty and Statistical Biasmentioning

confidence: 98%

“…On the other hand, the threshold for near points is given by several tangled factors: the location uncertainty, the directional error in (20), and the triangulation bias derived from (2). Under the assumption of z >> b, the location uncertainty is formulated as…”

Section: E Thresholdsmentioning

confidence: 99%

A two-point algorithm for stereo visual odometry in open outdoor environments

Otsu

Kubota

2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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This paper proposes a novel method to estimate relative poses for a calibrated stereo camera. Three corresponding points in 3D space are theoretically required to recover unconstraint motion which has six degrees of freedom. The proposed method solves this problem with only two 3D points by exploiting a common reference direction between poses. Two points are selected in accordance with the distance to the camera: one distant point is used for deriving a reference direction, and one near point is used for estimating accurate translation. The distance is computed by triangulation in stereo vision. The uncertainty of triangulation can be mitigated by the appropriate selection strategy. The experiments using synthetic and real data demonstrate the effectiveness and higher stability of the proposed method against image pixel noise.

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“…The estimated pitch of the vehicle had a negative bias (e.g., the vehicle tended to estimate that it was pitching upward) whose magnitude seemed strongly correlated to the visual appearance of the terrain that the vehicle was in, making calibration before the field trials unsuitable. Lambert () does a deeper analysis of this visual‐odometry bias.…”

Section: Field Testsmentioning

confidence: 99%

Planning using a Network of Reusable Paths: A Physical Embodiment of a Rapidly Exploring Random Tree

Stenning

McManus

Barfoot

2013

Journal of Field Robotics

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Growing a network of reusable paths is a novel approach to navigation that allows a mobile robot to autonomously seek distant goals in unmapped, GPS‐denied environments, which may make it particularly well‐suited to rovers used for planetary exploration. A network of reusable paths is an extension to visual‐teach‐and‐repeat systems; instead of a simple chain of poses, there is an arbitrary network. This allows the robot to return to any pose it has previously visited, and it lets a robot plan to reuse previous paths. This paradigm results in closer goal acquisition (through reduced localization error) and a more robust approach to exploration with a mobile robot. It also allows a rover to return a sample to an ascent vehicle with a single command. We show that our network‐of‐reusable‐paths approach is a physical embodiment of the popular rapidly exploring random tree (RRT) planner. Simulation results are presented along with the results from two different robotic test systems. These test systems drove over 14 km in planetary analog environments.

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Visual odometry aided by a sun sensor and inclinometer

Abstract: ii

Cited by 21 publications

References 28 publications

Polarized-Light Processing in Insect Brains: Recent Insights from the Desert Locust, the Monarch Butterfly, the Cricket, and the Fruit Fly

Polarized-Light Processing in Insect Brains: Recent Insights from the Desert Locust, the Monarch Butterfly, the Cricket, and the Fruit Fly

A two-point algorithm for stereo visual odometry in open outdoor environments

Planning using a Network of Reusable Paths: A Physical Embodiment of a Rapidly Exploring Random Tree

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