High altitude stereo visual odometry

Warren, Michael & Upcroft, Ben (2013) High altitude stereo visual odometry. In Proceedings of Robotics: Science and Systems IX, Technische Universität Berlin, Berlin, Germany.

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Stereo visual odometry has received little investigation in high altitude applications due to the generally poor performance of rigid stereo rigs at extremely small baseline-to-depth ratios. Without additional sensing, metric scale is considered lost and odometry is seen as effective only for monocular perspectives. This paper presents a novel modification to stereo based visual odometry that allows accurate, metric pose estimation from high altitudes, even in the presence of poor calibration and without additional sensor inputs. By relaxing the (typically fixed) stereo transform during bundle adjustment and reducing the dependence on the fixed geometry for triangulation, metrically scaled visual odometry can be obtained in situations where high altitude and structural deformation from vibration would cause traditional algorithms to fail. This is achieved through the use of a novel constrained bundle adjustment routine and accurately scaled pose initializer. We present visual odometry results demonstrating the technique on a short-baseline stereo pair inside a fixed-wing UAV flying at significant height (~30-100m).

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ID Code: 61674
Item Type: Conference Paper
Refereed: Yes
Additional URLs:
Keywords: Computer Vision, UAV, Stereo Vision, Bundle Adjustment, Constrained Optimization
ISSN: 9789810739379
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 > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2013 Please consult the authors
Deposited On: 04 Aug 2013 22:28
Last Modified: 05 Aug 2013 22:08

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