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Rover navigation using stereo ego-motion

Clark F. Olson, Larry H. Matthies, Marcel Schoppers, Mark W. Maimone
2003 Robotics and Autonomous Systems  
In this paper, we describe a methodology for long-distance rover navigation that meets these goals using robust estimation of ego-motion.  ...  Promising techniques for position estimation by determining the camera ego-motion from monocular or stereo sequences have been previously described.  ...  This paper is an expanded version of previous work on stereo ego-motion that has appeared in the IEEE Computer Society Conference on Computer Vision and Pattern Recognition [17] and the IEEE International  ... 
doi:10.1016/s0921-8890(03)00004-6 fatcat:tpzpp7xnkfhozgck7pim4wafku

Stereo-Based Ego-Motion Estimation Using Pixel Tracking and Iterative Closest Point

A. Milella, R. Siegwart
2006 Fourth IEEE International Conference on Computer Vision Systems (ICVS'06)  
In this paper, we present a stereovision algorithm for real-time 6DoF ego-motion estimation, which integrates image intensity information and 3D stereo data in the well-known Iterative Closest Point (ICP  ...  subsequent stereo pairs.  ...  Description of the method In this section, an algorithm for real-time 6DoF ego-motion estimation is presented, which enables a robot to self-localize using only the data acquired by a stereo head, mounted  ... 
doi:10.1109/icvs.2006.56 dblp:conf/icvs/MilellaS06 fatcat:h5wmyykq7rcxpi3e5h2q37ooce

Camera-aided human navigation: Advances and challenges

Clark F. Olson, Andreas O. Robinson
2012 2012 IEEE International Conference on Emerging Signal Processing Applications  
While many advances have been made in navigation techniques using stereo and monocular motion estimation, significant hurdles exist for a practical system, including size, weight, power, and cost limitations  ...  We examine the use of visual navigation techniques for improving human navigation and localization in GPSdenied environments.  ...  Previous work has resulted in a method that is capable of accurate rover navigation over long distances using incremental stereo ego-motion [3] , [4] .  ... 
doi:10.1109/espa.2012.6152449 dblp:conf/espa/OlsonR12 fatcat:rykkioegmvejhjdacpiksgmv2a

Evolution of Visual Odometry Techniques [article]

Shashi Poddar, Rahul Kottath, Vinod Karar
2018 arXiv   pre-print
Camera based motion estimation is one such technique which is gaining huge popularity owing to its simplicity and use of limited resources in generating motion path.  ...  With rapid advancements in the area of mobile robotics and industrial automation, a growing need has arisen towards accurate navigation and localization of moving objects.  ...  With this growing confidence on feature-based VO techniques and its demonstration on ground vehicle navigation, it was used in navigating Mars exploration rover [17] .  ... 
arXiv:1804.11142v1 fatcat:eu5rygcrljgnhm6igc3ang7oma

Evaluation of 3D CNN Semantic Mapping for Rover Navigation [article]

Sebastiano Chiodini, Luca Torresin, Marco Pertile, Stefano Debei
2020 arXiv   pre-print
The algorithm uses as input a stereo image acquired by a camera mounted on a rover. Firstly, images are labeled with DeepLabv3+, which is an encoder-decoder Convolutional Neural Networl (CNN).  ...  Then, the labels obtained by the semantic segmentation are combined to stereo depth-maps in a Voxel representation. We evaluate our approach on the ESA Katwijk Beach Planetary Rover Dataset.  ...  Firstly, localization suffers of lack of GPS signal and it needs vision techniques such as Visual Odometry (see [3] , [4] ) to estimate rover ego-motion.  ... 
arXiv:2006.09761v1 fatcat:p6lwg56skrhrnhcienhy4odjju

Review of visual odometry: types, approaches, challenges, and applications

Mohammad O. A. Aqel, Mohammad H. Marhaban, M. Iqbal Saripan, Napsiah Bt. Ismail
2016 SpringerPlus  
For autonomous navigation, motion tracking, and obstacle detection and avoidance, a robot must maintain knowledge of its position over time.  ...  It allows a vehicle to localize itself robustly by using only a stream of images captured by a camera attached to the vehicle.  ...  In space exploration, for example, VO is used to estimate the ego-motion of the NASA Mars rovers (Maimone et al. 2007) .  ... 
doi:10.1186/s40064-016-3573-7 pmid:27843754 pmcid:PMC5084145 fatcat:pfha22xk35gvra22i6sx4ccq2m

AN EXPERIMENTAL STUDY OF AERIAL STEREO VISUAL ODOMETRY

Jonathan Kelly, Gaurav S. Sukhatme
2007 IFAC Proceedings Volumes  
SVO is an incremental procedure that determines ego-motion by identifying and tracking visual landmarks in the environment, using cameras mounted on-board the vehicle.  ...  Our results show that an oblique camera pointing angle produces better motion estimates than a nadir view angle, and that reliable navigation over distances of more than 200 meters is possible using visual  ...  The rovers use stereo VO to correct pose estimates produced from wheel odometry when driving over high-slip terrain.  ... 
doi:10.3182/20070903-3-fr-2921.00036 fatcat:c5wulhabdbawdp2252ls26qg7e

Slip compensation for a Mars rover

D.M. Helmick, Yang Cheng, D.S. Clouse, M. Bajracharya, L.H. Matthies, S.I. Roumeliotis
2005 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Visual odometry tracks distinctive scene features in stereo imagery to estimate rover motion between successively acquired stereo image pairs.  ...  Index Terms -rover navigation, visual odometry, slip compensation, kalman filter, kinematics. 0-7803-8912-3/05/$20.00 ©2005 IEEE. 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems  ...  Visual odometry is an algorithm that uses stereo imagery to estimate rover motion independent of mechanical terrain properties and is described in Section II.  ... 
doi:10.1109/iros.2005.1545178 dblp:conf/iros/HelmickCCBMR05 fatcat:wm5sixsxm5fxvk6dg3jvgzvyfy

Centre National d'études Spatiales [chapter]

2011 Encyclopedia of Astrobiology  
We provide preliminary characteristics of its performances that can be used to design an autonomous locomotion system.  ...  Its performances are tightly linked to the 3D reconstruction and input rotational motion accuracies. Input ego-motion from wheel odometry is optionally used to reduce searching areas.  ...  The ego-motion estimation is decomposed in four steps : image acquisition and rectification, landmark detection and characterization, feature matching and motion estimation.  ... 
doi:10.1007/978-3-642-11274-4_2223 fatcat:vot5ijscdjerng5r3shcd2ah2u

Slip-compensated path following for planetary exploration rovers

Daniel M. Helmick, Stergios I. Roumeliotis, Yang Cheng, Daniel S. Clouse, Max Bajracharya, Larry H. Matthies
2006 Advanced Robotics  
Visual odometry tracks distinctive scene features in stereo imagery to estimate rover motion between successively acquired stereo image pairs.  ...  This slip vector is then used to determine the necessary wheel velocities and steering angles to compensate for slip and follow the desired path.  ...  It also removes the requirement of many navigation algorithms to use arcs as the fundamental motion of the rover and permits more complex spline paths to be the basis of path planning.  ... 
doi:10.1163/156855306778792470 fatcat:hxksx2xe2fcu5h26yiqdfeglge

4.5. Centre national d'etudes spatiales

1988 Space Research Today (COSPAR's Information Bulletin)  
We provide preliminary characteristics of its performances that can be used to design an autonomous locomotion system.  ...  Its performances are tightly linked to the 3D reconstruction and input rotational motion accuracies. Input ego-motion from wheel odometry is optionally used to reduce searching areas.  ...  The ego-motion estimation is decomposed in four steps : image acquisition and rectification, landmark detection and characterization, feature matching and motion estimation.  ... 
doi:10.1016/0045-8732(88)90102-7 fatcat:mcejm3x4jjcijpg67kehiuxvsi

Real-time smart and standalone vision/IMU navigation sensor

Lounis Chermak, Nabil Aouf, Mark Richardson, Gianfranco Visentin
2016 Journal of Real-Time Image Processing  
In this paper, we present a smart, standalone, multi-platform stereo vision/IMU-based navigation system, providing ego-motion estimation.  ...  Highresolution stereo images of 1.2 megapixel provide highquality data.  ...  Open Access This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://crea tivecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution  ... 
doi:10.1007/s11554-016-0613-z fatcat:sbgpqf4thracriz5hj5dlnssca

Stereo visual-inertial odometry with an online calibration and its field testing

Jae Hyung Jung, Sejong Heo, Chan Gook Park, D.D. Wijaya
2019 E3S Web of Conferences  
In this paper, we present a visual-inertial odometry (VIO) with an online calibration using a stereo camera in planetary rover localization.  ...  Unlike the conventional calibration procedures, this method estimates both navigation and calibration states from naturally occurred visual point features during operation.  ...  Introduction Ego-motion estimation is one of the most crucial tasks for unmanned vehicles such as planetary rovers or autonomous driving cars to successfully carry out their missions.  ... 
doi:10.1051/e3sconf/20199402005 fatcat:4e6plpbti5d7nbpupi2xe5ctom

Real-Time Visual Self-Localisation in Dynamic Environments [chapter]

H. Schäfer, P. Hahnfeld, K. Berns
2007 Autonome Mobile Systeme 2007  
motion in the camera images.  ...  In the scope of this work a method for robust visual self-localisation in dynamic environments on the basis of feature prediction using wheel odometry was developed.  ...  Therefore a stereo-ego-motion approach was chosen for implementation in this work.  ... 
doi:10.1007/978-3-540-74764-2_8 dblp:conf/ams/SchaferHB07 fatcat:efiqikcbgrbc5l4c3ian7tuo6u

Stereo-vision based 3D modeling for unmanned ground vehicles

Stephen Se, Piotr Jasiobedzki, Grant R. Gerhart, Douglas W. Gage, Charles M. Shoemaker
2007 Unmanned Systems Technology IX  
Instant Scene Modeler (iSM) is a vision system for generating calibrated photo-realistic 3D models of unknown environments quickly using stereo image sequences.  ...  3D models while the rover traverses in unknown environments.  ...  ACKNOWLEDGEMENTS We thank Brian Yamauchi, Chris Jones and Erik Schoenfeld at iRobot Corporation for their help with the PackBot experiments and many useful discussions.  ... 
doi:10.1117/12.718399 fatcat:6ym7rcwnybanbmfcbswp5ovs5i
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