Publication detail

Design of visual odometry system for mobile robot

RŮŽIČKA, M. MAŠEK, P.

Original Title

Design of visual odometry system for mobile robot

English Title

Design of visual odometry system for mobile robot

Type

conference paper

Language

Czech

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.

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

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

Key words 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

Authors

RŮŽIČKA, M.; MAŠEK, P.

RIV year

2014

Released

3. 12. 2014

Publisher

Brno University of technology

ISBN

978-80-214-4817-9

Book

16th International Conference on Mechatronics – Mechatronika 2014

Edition

1

Edition number

1

Pages from

548

Pages to

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",
  series="1",
  number="1",
  pages="548--553",
  publisher="Brno University of technology",
  isbn="978-80-214-4817-9"
}