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.

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Abstract

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
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1 citations in Web of Science®

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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

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