Visual odometry for an omnidirectional-drive robot

Alberto Pretto, Emanuele Menegatti, Masaki Takahashi, Takafumi Suzuki, Enrico Pagello

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

In this paper, we present a framework for 3D visual odometry applied to a hospital-use transfer robot equipped with an omni-drive system. The approach is based on features extracted out of and matched in monocular image sequences. We propose a new feature detection and tracking scheme robust to motion blur and well suitable in environment, as a hospital, where the local features are sparse and not much distinctive. Moreover, this approach match very well the omnidirectional drive robot for two reasons: the poorly reliable odometry of this drive system and the brisk jerks these robots experience when they cross an uneven floor. Experiments performed on a relatively long path in an indoor environment with repetitive patterns and sparse local features show the effectiveness of the proposed technique in reliably extracting and matching features and in the generation of a correct visual odometry. Results are obtained without the aid of any external sensors other than the robot's low-cost camera. We also presents a performance evaluation of the proposed features detection-descriptor scheme.

本文言語English
ホスト出版物のタイトル2009 6th International Symposium on Mechatronics and its Applications, ISMA 2009
DOI
出版ステータスPublished - 2009 11 23
イベント2009 6th International Symposium on Mechatronics and its Applications, ISMA 2009 - Sharjah, United Arab Emirates
継続期間: 2009 3 232009 3 26

出版物シリーズ

名前2009 6th International Symposium on Mechatronics and its Applications, ISMA 2009

Other

Other2009 6th International Symposium on Mechatronics and its Applications, ISMA 2009
CountryUnited Arab Emirates
CitySharjah
Period09/3/2309/3/26

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Mechanical Engineering

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