An examination of feature detection for real-time visual odometry in untextured natural terrain

Kyohei Otsu, Masatsugu Otsuki, Genya Ishigami, Takashi Kubota

研究成果: Conference contribution

抄録

Estimating the position of a robot is an essential requirement for autonomous mobile robots. Visual Odometry is a promising localization method in slippery natural terrain, which drastically degrades the accuracy of Wheel Odometry, while relying neither on other infrastructure nor any prior knowledge. Visual Odometry, however, suffers from the instability of feature extraction from the untextured natural terrain. To date, a number of feature detectors have been proposed for stable feature detection. This paper compares commonly used detectors in terms of robustness, localization accuracy and computational efficiency, and points out their trade-off problems among those criteria. To solve the problem, a hybrid algorithm is proposed which dynamically switches between multiple detectors according to the texture of terrain. Validity of the algorithm is proved by the simulation using dataset at volcanic areas in Japan.

元の言語English
ホスト出版物のタイトルAdvances in Intelligent Systems and Computing
ページ405-414
ページ数10
208 AISC
DOI
出版物ステータスPublished - 2013
外部発表Yes
イベント1st International Conference on Robot Intelligence Technology and Applications, RiTA 2012 - Gwangju, Korea, Republic of
継続期間: 2012 12 162012 12 18

出版物シリーズ

名前Advances in Intelligent Systems and Computing
208 AISC
ISSN(印刷物)21945357

Other

Other1st International Conference on Robot Intelligence Technology and Applications, RiTA 2012
Korea, Republic of
Gwangju
期間12/12/1612/12/18

Fingerprint

Detectors
Computational efficiency
Mobile robots
Feature extraction
Wheels
Textures
Switches
Robots

ASJC Scopus subject areas

  • Computer Science(all)
  • Control and Systems Engineering

これを引用

Otsu, K., Otsuki, M., Ishigami, G., & Kubota, T. (2013). An examination of feature detection for real-time visual odometry in untextured natural terrain. : Advances in Intelligent Systems and Computing (巻 208 AISC, pp. 405-414). (Advances in Intelligent Systems and Computing; 巻数 208 AISC). https://doi.org/10.1007/978-3-642-37374-9_39

An examination of feature detection for real-time visual odometry in untextured natural terrain. / Otsu, Kyohei; Otsuki, Masatsugu; Ishigami, Genya; Kubota, Takashi.

Advances in Intelligent Systems and Computing. 巻 208 AISC 2013. p. 405-414 (Advances in Intelligent Systems and Computing; 巻 208 AISC).

研究成果: Conference contribution

Otsu, K, Otsuki, M, Ishigami, G & Kubota, T 2013, An examination of feature detection for real-time visual odometry in untextured natural terrain. : Advances in Intelligent Systems and Computing. 巻. 208 AISC, Advances in Intelligent Systems and Computing, 巻. 208 AISC, pp. 405-414, 1st International Conference on Robot Intelligence Technology and Applications, RiTA 2012, Gwangju, Korea, Republic of, 12/12/16. https://doi.org/10.1007/978-3-642-37374-9_39
Otsu K, Otsuki M, Ishigami G, Kubota T. An examination of feature detection for real-time visual odometry in untextured natural terrain. : Advances in Intelligent Systems and Computing. 巻 208 AISC. 2013. p. 405-414. (Advances in Intelligent Systems and Computing). https://doi.org/10.1007/978-3-642-37374-9_39
Otsu, Kyohei ; Otsuki, Masatsugu ; Ishigami, Genya ; Kubota, Takashi. / An examination of feature detection for real-time visual odometry in untextured natural terrain. Advances in Intelligent Systems and Computing. 巻 208 AISC 2013. pp. 405-414 (Advances in Intelligent Systems and Computing).
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