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.

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Abstract

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.

Impact and interest:

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ID Code: 82193
Item Type: Conference Paper
Refereed: Yes
Keywords: Visual odometry, Car-like vehicles, Robotics, IMU, Ackerman-like steering model
ISBN: 9780646506432
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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