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Combined visual odometry and visual compass for off-road mobile robots localization

Gonzalez, Ramon ; Rodriguez, Francisco ; Guzman, Jose Luis ; Pradalier, Cedric ; Siegwart, Roland

In: Robotica, 2012, vol. 30, no. 6, p. 865-878

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    Titre
    • Combined visual odometry and visual compass for off-road mobile robots localization
    Auteur
    • Gonzalez, Ramon. Department of Languages and Computation, University of Almería, Almería, Spain
    • Rodriguez, Francisco. Department of Languages and Computation, University of Almería, Almería, Spain
    • Guzman, Jose Luis. Department of Languages and Computation, University of Almería, Almería, Spain
    • Pradalier, Cedric. Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland
    • Siegwart, Roland. Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland
    Type de document
    • Postprint
    Identifiant OAI-PMH
    • oai:doc.rero.ch:296020
    Summary
    In this paper, we present the work related to the application of a visual odometry approach to estimate the location of mobile robots operating in off-road conditions. The visual odometry approach is based on template matching, which deals with estimating the robot displacement through a matching process between two consecutive images. Standard visual odometry has been improved using visual compass method for orientation estimation. For this purpose, two consumer-grade monocular cameras have been employed. One camera is pointing at the ground under the robot, and the other is looking at the surrounding environment. Comparisons with popular localization approaches, through physical experiments in off-road conditions, have shown the satisfactory behavior of the proposed strategy