Visual odometry using feature point and ground plane for urban environments

Atsushi Sakai, Yuya Tamura, Yoji Kuroda

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

In this paper, we propose a visual odometry system for accurate and robust 6DOF localization in urban environments. The visual odometry system integrates a feature based Visual odometry and normal vector information of a estimated ground plane in order to achieve the accurate Visual Odometry in untextured environments like urban. In the featurebased Visual Odometry, robustness and accuracy are improved by using RANSAC, three-point algorithm, and key frame adjustment. In the ground plane extraction, the stereo homography matrix is used. We use RANSAC to calculate the homography matrix robustly, . Unscented Kalman Filter is used for the sensor fusion to integrate these information. Normalized innovation squared Test is used for the fault detection of the ground plane extraction. In addition, we propose a localization system which integrates the Visual odometry system and a gyro sensor to reduce the influence of dynamic objects. Localization results of our Visual odometry system and localization system are presented, the effectiveness of our system is demonstrated.

Original languageEnglish
Title of host publicationJoint 41st International Symposium on Robotics and 6th German Conference on Robotics 2010, ISR/ROBOTIK 2010
Pages654-661
Number of pages8
Publication statusPublished - 1 Dec 2010
EventJoint 41st International Symposium on Robotics, ISR 2010 and 6th German Conference on Robotics 2010, ROBOTIK 2010 - Munich, Germany
Duration: 7 Jun 20109 Jun 2010

Publication series

NameJoint 41st International Symposium on Robotics and 6th German Conference on Robotics 2010, ISR/ROBOTIK 2010
Volume1

Conference

ConferenceJoint 41st International Symposium on Robotics, ISR 2010 and 6th German Conference on Robotics 2010, ROBOTIK 2010
CountryGermany
CityMunich
Period7/06/109/06/10

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Sakai, A., Tamura, Y., & Kuroda, Y. (2010). Visual odometry using feature point and ground plane for urban environments. In Joint 41st International Symposium on Robotics and 6th German Conference on Robotics 2010, ISR/ROBOTIK 2010 (pp. 654-661). (Joint 41st International Symposium on Robotics and 6th German Conference on Robotics 2010, ISR/ROBOTIK 2010; Vol. 1).