Practical visual odometry for car-like vehicles

Nourani-Vatani, Navid, Roberts, Jonathan M., & Srinivasan, M. V. (2009) Practical visual odometry for car-like vehicles. In IEEE International Conference on Robotics and Automation, IEEE, Kobe, Japan, pp. 3551-3557.

View at publisher


A method for calculating visual odometry for ground vehicles with car-like kinematic motion constraints similar to Ackerman's steering model is presented. By taking advantage of this non-holonomic driving constraint we show a simple and practical solution to the odometry calculation by clever placement of a single camera. The method has been implemented successfully on a large industrial forklift and a Toyota Prado SUV. Results from our industrial test site is presented demonstrating the applicability of this method as a replacement for wheel encoder-based odometry for these vehicles.

Impact and interest:

29 citations in Scopus
Search Google Scholar™
1 citations in Web of Science®

Citation counts are sourced monthly from Scopus and Web of Science® citation databases.

These databases contain citations from different subsets of available publications and different time periods and thus the citation count from each is usually different. Some works are not in either database and no count is displayed. Scopus includes citations from articles published in 1996 onwards, and Web of Science® generally from 1980 onwards.

Citations counts from the Google Scholar™ indexing service can be viewed at the linked Google Scholar™ search.

ID Code: 75816
Item Type: Conference Paper
Refereed: Yes
Keywords: Visual odometry
DOI: 10.1109/ROBOT.2009.5152403
ISBN: 978-1-4244-2788-8
ISSN: 1050-4729
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Computer Vision (080104)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > MECHANICAL ENGINEERING (091300) > Autonomous Vehicles (091303)
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > Institutes > Institute for Future Environments
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Deposited On: 29 Aug 2014 07:39
Last Modified: 12 Sep 2014 04:19

Export: EndNote | Dublin Core | BibTeX

Repository Staff Only: item control page