Unaided stereo vision based pose estimation

Warren, Michael, McKinnon, David, He, Hu, & Upcroft, Ben (2010) Unaided stereo vision based pose estimation. In Australasian Conference on Robotics and Automation (ACRA 2010), 1-3 December 2010, Brisbane, Queensland.

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Abstract

This paper presents the development of a low-cost sensor platform for use in ground-based visual pose estimation and scene mapping tasks. We seek to develop a technical solution using low-cost vision hardware that allows us to accurately estimate robot position for SLAM tasks. We present results from the application of a vision based pose estimation technique to simultaneously determine camera poses and scene structure. The results are generated from a dataset gathered traversing a local road at the St Lucia Campus of the University of Queensland. We show the accuracy of the pose estimation over a 1.6km trajectory in relation to GPS ground truth.

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ID Code: 39881
Item Type: Conference Paper
Refereed: Yes
Keywords: Stereo Vision, Vision, Pose Estimation, Bundle Adjustment
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)
Divisions: Current > Research Centres > Australasian CRC for Interaction Design (ACID)
Copyright Owner: Copyright 2010 Please consult the authors.
Deposited On: 09 Feb 2011 01:49
Last Modified: 29 Feb 2012 14:33

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