In this research, color-depth (RGB-D) camera pairs, like the Microsoft® Kinect™, are used to enable one-point visual odometry. In the proposed algorithm, features are detected in the color image using the speeded-up robust features (SURF) algorithm and converted into 3-dimensional (3D) feature locations using information from the depth image. These 3D features allow feature tracking between successive images based on spatial proximity. An inverse kinematic solution is used to calculate the visual odometry between frames based on the 3D feature matches. The proposed method supports visual odometry measurement with a single feature correspondence between frames. The proposed algorithm is implemented on a small, wheeled mobile robot (WMR) and evaluated experimentally in a series of representative, indoor, operational contexts. The preliminary results demonstrate that the proposed approach accurately tracks the motion of the robot to within 4–6% error, which is comparable to other more computationally expensive algorithms.
- Dynamic Systems and Control Division
One-Point Visual Odometry Using a RGB-Depth Camera Pair
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Fabian, J, & Clayton, G. "One-Point Visual Odometry Using a RGB-Depth Camera Pair." Proceedings of the ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference. Volume 1: Adaptive Control; Advanced Vehicle Propulsion Systems; Aerospace Systems; Autonomous Systems; Battery Modeling; Biochemical Systems; Control Over Networks; Control Systems Design; Cooperative and Decentralized Control; Dynamic System Modeling; Dynamical Modeling and Diagnostics in Biomedical Systems; Dynamics and Control in Medicine and Biology; Estimation and Fault Detection; Estimation and Fault Detection for Vehicle Applications; Fluid Power Systems; Human Assistive Systems and Wearable Robots; Human-in-the-Loop Systems; Intelligent Transportation Systems; Learning Control. Fort Lauderdale, Florida, USA. October 17–19, 2012. pp. 491-498. ASME. https://doi.org/10.1115/DSCC2012-MOVIC2012-8700
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