Date of Original Version

10-2012

Type

Conference Proceeding

Rights Management

© 2012 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

Abstract or Description

Empirical evidence shows that error growth in visual odometry is biased. A projective bias model is developed and its parameters are estimated offline from trajectories encompassing loops. The model is used online to compensate for bias and thereby significantly reduces error growth. We validate our approach with more than 25 km of stereo data collected in two very different urban environments from a moving vehicle. Our results demonstrate significant reduction in error, typically on the order of 50%, suggesting that our technique has significant applicability to deployed robot systems in GPS denied environments.

DOI

10.1109/IROS.2012.6385713

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Published In

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012, 2828-2835.