동적 환경에서 강인한 영상특징을 이용한 스테레오 비전 기반의 비주얼 오도메트리Stereo Vision-based Visual Odometry Using Robust Visual Feature in Dynamic Environment
- Other Titles
- Stereo Vision-based Visual Odometry Using Robust Visual Feature in Dynamic Environment
- Authors
- 정상준; 송재복; 강신천
- Issue Date
- 2008
- Publisher
- 한국로봇학회
- Keywords
- Visual Odometry; Motion vector; Motion Estimation; Mobile Robot
- Citation
- 로봇학회 논문지, v.3, no.4, pp.263 - 269
- Journal Title
- 로봇학회 논문지
- Volume
- 3
- Number
- 4
- Start Page
- 263
- End Page
- 269
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/124717
- ISSN
- 1975-6291
- Abstract
- Visual odometry is a popular approach to estimating robot motion using a monocular or
stereo camera. This paper proposes a novel visual odometry scheme using a stereo camera for robust
estimation of a 6 DOF motion in the dynamic environment. The false results of feature matching and the
uncertainty of depth information provided by the camera can generate the outliers which deteriorate the
estimation. The outliers are removed by analyzing the magnitude histogram of the motion vector of the
corresponding features and the RANSAC algorithm. The features extracted from a dynamic object such
as a human also makes the motion estimation inaccurate. To eliminate the effect of a dynamic object,
several candidates of dynamic objects are generated by clustering the 3D position of features and each
candidate is checked based on the standard deviation of features on whether it is a real dynamic object
or not. The accuracy and practicality of the proposed scheme are verified by several experiments and
comparisons with both IMU and wheel-based odometry. It is shown that the proposed scheme works
well when wheel slip occurs or dynamic objects exist.
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