IMU aided 3D visual odometry for car-like vehicles
Nourani-Vatani, Navid, Roberts, Jonathan M., & Srinivasan, Mandyam V. (2008) IMU aided 3D visual odometry for car-like vehicles. In Proceedings of the 2008 Australasian Conference on Robotics and Automation, ACRA 2008, Australian Robotics and Automation Association, Canberra, ACT, Australia, pp. 1-8.
We present a method for calculating odome- try in three-dimensions for car-like ground ve- hicles with an Ackerman-like steering model. In our approach we use the information from a single camera to derive the odometry in the plane and fuse it with roll and pitch informa- tion derived from an on-board IMU to extend to three-dimensions, thus providing odometric altitude as well as traditional x and y transla- tion. We have mounted the odometry module on a standard Toyota Prado SUV and present results from a car-park environment as well as from an off-road track.
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|Item Type:||Conference Paper|
|Keywords:||Visual odometry, Car-like vehicles, Robotics, IMU, Ackerman-like steering model|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2008 [please consult the authors]|
|Deposited On:||04 Mar 2015 23:58|
|Last Modified:||13 Apr 2015 23:29|
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