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Paper FrC10.5

Grimes, Matthew Koichi (New York University), LeCun, Yann (New York University)

Efficient Off-Road Localization Using Visually Corrected Odometry

Scheduled for presentation during the Regular Sessions "Visual Navigation - II" (FrC10), Friday, May 15, 2009, 14:50−15:10, Room: 502

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Visual Navigation, Mapping, Sensor Fusion

Abstract

We describe an efficient, low-cost, low-overhead system for robot localization in complex visual environments. Our system augments wheel odometry with visual orientation tracking to yield localization accuracy comparable with ``pure'' visual odometry at a fraction of the cost. Such a system is well-suited to consumer-level robots, small form-factor robots, extraterrestrial rovers, and other platforms with limited computational resources. Our system also benefits high-end multi-processor robots by leaving ample processor time on all camera-computer pairs to perform other critical visual tasks, such as obstacle detection. Experimental results are shown for outdoor, off-road loops on the order of 200 meters. Comparisons are made with corresponding results from a state-of-the-art pure visual odometer

 

 

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