Outdoor delayed-state visually augmented odometry

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hdl:2117/191344
Document typeConference report
Defense date2007
PublisherIFAC
Rights accessOpen Access
Except where otherwise noted, content on this work
is licensed under a Creative Commons license
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Attribution-NonCommercial-NoDerivs 3.0 Spain
ProjectEC-IST-FP6-STREP-045062-
Abstract
This paper presents an efficient approach to outdoor visually augmented odometry. The technique computes relative pose constraints via a robust least squares minimisation of 3D point correspondences, which are in turn obtained from the matching of SIFT features over two consecutive image pairs. Pose constraints are then used to build a history of pose estimates with and incremental delayed-state information filter. The efficiency of the approach resides on the exact sparseness of the delayed-state information form used.
CitationIlla, V.; Andrade-Cetto, J.; Sanfeliu, A. Outdoor delayed-state visually augmented odometry. A: IFAC/EURON Symposium on Intelligent Autonomous Vehicles. "Proceedings of the 6th IFAC/EURON Symposium on Intelligent Autonomous Vehicles". IFAC, 2007, p. 548-553.
ISBNCD_ROM
Collections
- IRI - Institut de Robòtica i Informàtica Industrial, CSIC-UPC - Ponències/Comunicacions de congressos [463]
- Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial - Ponències/Comunicacions de congressos [1.413]
- VIS - Visió Artificial i Sistemes Intel·ligents - Ponències/Comunicacions de congressos [282]
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