동적 환경에서 강인한 영상특징을 이용한 스테레오 비전 기반의 비주얼 오도메트리
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 정상준 | - |
dc.contributor.author | 송재복 | - |
dc.contributor.author | 강신천 | - |
dc.date.accessioned | 2021-09-09T13:51:21Z | - |
dc.date.available | 2021-09-09T13:51:21Z | - |
dc.date.created | 2021-06-17 | - |
dc.date.issued | 2008 | - |
dc.identifier.issn | 1975-6291 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/124717 | - |
dc.description.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. | - |
dc.language | Korean | - |
dc.language.iso | ko | - |
dc.publisher | 한국로봇학회 | - |
dc.title | 동적 환경에서 강인한 영상특징을 이용한 스테레오 비전 기반의 비주얼 오도메트리 | - |
dc.title.alternative | Stereo Vision-based Visual Odometry Using Robust Visual Feature in Dynamic Environment | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | 송재복 | - |
dc.identifier.bibliographicCitation | 로봇학회 논문지, v.3, no.4, pp.263 - 269 | - |
dc.relation.isPartOf | 로봇학회 논문지 | - |
dc.citation.title | 로봇학회 논문지 | - |
dc.citation.volume | 3 | - |
dc.citation.number | 4 | - |
dc.citation.startPage | 263 | - |
dc.citation.endPage | 269 | - |
dc.type.rims | ART | - |
dc.identifier.kciid | ART001418133 | - |
dc.description.journalClass | 2 | - |
dc.subject.keywordAuthor | Visual Odometry | - |
dc.subject.keywordAuthor | Motion vector | - |
dc.subject.keywordAuthor | Motion Estimation | - |
dc.subject.keywordAuthor | Mobile Robot | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
(02841) 서울특별시 성북구 안암로 14502-3290-1114
COPYRIGHT © 2021 Korea University. All Rights Reserved.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.