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VISUAL ODOMETRY OF A MOBILE PALETTE ROBOT USING GROUND PLANE IMAGE FROM A FISHEYE CAMERA
2022
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
Abstract. In this paper, we present a method of mobile robot's visual odometry using the visual feature tracking in the ground plane image generated from the fisheye image. In order to extract the feature information on the ground, we use a fisheye camera that has a larger FOV than a general pinhole camera, so that we can capture more information on the ground plane. However, due to the large distortion, it is difficult to extract the visual features in the fisheye image. The distortion can be
doi:10.5194/isprs-archives-xliii-b1-2022-431-2022
fatcat:si6ocnyi6ndlrptkwa7xkzo5ge