Experimental Comparison of Odometry Approaches [chapter]

Liz Murphy, Timothy Morris, Ugo Fabrizi, Michael Warren, Michael Milford, Ben Upcroft, Michael Bosse, Peter Corke
2013 Springer Tracts in Advanced Robotics  
Odometry is an important input to robot navigation systems, and we are interested in the performance of vision-only techniques. In this paper we experimentally evaluate and compare the performance of wheel odometry, monocular feature-based visual odometry, monocular patch-based visual odometry, and a technique that fuses wheel odometry and visual odometry, on a mobile robot operating in a typical indoor environment.
doi:10.1007/978-3-319-00065-7_58 fatcat:cnyqf6mazjhirm6aegimigqjei