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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 (2012) Experimental comparison of odometry approaches. In Khatib, Oussama (Ed.) Proceedings of the 13th International symposium on experimental robotics (ISER 2012), Quebec City, Canada. (In Press)

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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
    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
    Copyright Owner: Copyright 2012 Please consult the authors.
    Deposited On: 31 Jul 2012 08:26
    Last Modified: 06 Mar 2013 23:15

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