Publication detail
Design of visual odometry system for mobile robot
RŮŽIČKA, M. MAŠEK, P.
Czech title
Design of visual odometry system for mobile robot
English title
Design of visual odometry system for mobile robot
Type
conference paper
Language
cs
Original abstract
This paper deals with design of hybrid software and hardware sensor, which can be used for mobile robots visual odometry task. The paper is focused to sensing raw data only. This approach combines onboard hardware sensors -accelerometer, gyroscope, magnetometer and camera with software module, which is mainly based on computer vision. Output from vision system is relative change of position and rotation of mobile robot. The position change is calculated for two axes based on vision data and the relative rotation is based on data fusion of three onboard sensors.
Czech abstract
This paper deals with design of hybrid software and hardware sensor, which can be used for mobile robots visual odometry task. The paper is focused to sensing raw data only. This approach combines onboard hardware sensors -accelerometer, gyroscope, magnetometer and camera with software module, which is mainly based on computer vision. Output from vision system is relative change of position and rotation of mobile robot. The position change is calculated for two axes based on vision data and the relative rotation is based on data fusion of three onboard sensors.
English abstract
This paper deals with design of hybrid software and hardware sensor, which can be used for mobile robots visual odometry task. The paper is focused to sensing raw data only. This approach combines onboard hardware sensors -accelerometer, gyroscope, magnetometer and camera with software module, which is mainly based on computer vision. Output from vision system is relative change of position and rotation of mobile robot. The position change is calculated for two axes based on vision data and the relative rotation is based on data fusion of three onboard sensors.
Keywords in Czech
phase correlation; odometry; gyroscope; accelerometer; magnetometer; mobile robot; unmanned aerial vehicle; computer vision; image registration; trajectory estimation; visual odometry; optical flow; android operating system; low cost power devices
Keywords in English
phase correlation; odometry; gyroscope; accelerometer; magnetometer; mobile robot; unmanned aerial vehicle; computer vision; image registration; trajectory estimation; visual odometry; optical flow; android operating system; low cost power devices
RIV year
2014
Released
03.12.2014
Publisher
Brno University of technology
ISBN
978-80-214-4817-9
Book
16th International Conference on Mechatronics – Mechatronika 2014
Edition number
1
Pages from–to
548–553
Pages count
6
BIBTEX
@inproceedings{BUT111115,
author="Michal {Růžička} and Petr {Mašek},
title="Design of visual odometry system for mobile robot",
booktitle="16th International Conference on Mechatronics – Mechatronika 2014",
year="2014",
month="December",
pages="548--553",
publisher="Brno University of technology",
isbn="978-80-214-4817-9"
}