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Experimental comparison of odometry approaches

Murphy, Liz, Morris, Timothy, Fabrizi, Ugo, Warren, Michael, Milford, Michael, Upcroft, Ben, Bosse, Michael , & Corke, Peter (2013) Experimental comparison of odometry approaches. In Khatib, Oussama (Ed.) Experimental Robotics: The 13th International Symposium on Experimental Robotics [Springer Tracts in Advanced Robotics, Volume 88], Springer, Quebec City, Canada, pp. 877-890.

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    Abstract

    Odometry is an important input to robot navigation systems, and we are interested in the performance of vision-only techniques. In this paper we experimentally evaluate and compare the performance of wheel odometry, monocular feature-based visual odometry, monocular patch-based visual odometry, and a technique that fuses wheel odometry and visual odometry, on a mobile robot operating in a typical indoor environment.

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    ID Code: 52842
    Item Type: Conference Paper
    DOI: 10.1007/978-3-319-00065-7_58
    ISBN: 978-3-319-00064-0
    Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)
    Divisions: Current > Schools > School of Electrical Engineering & Computer Science
    Current > QUT Faculties and Divisions > Science & Engineering Faculty
    Funding:
    Copyright Owner: Copyright 2012 Please consult the authors.
    Deposited On: 31 Jul 2012 08:26
    Last Modified: 10 Apr 2014 14:06

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