Uncalibrated Visual Odometry for Ground Plane Motion Without Auto-calibration

Vincenzo Caglioti, Simone Gasparini

Abstract

In this paper we present a technique for visual odometry on the ground plane, based on a single, uncalibrated fixed camera mounted on a mobile robot. The odometric estimate is based on the observation of features (e.g., salient points) on the floor by means of the camera mounted on the mobile robot. The presented odometric technique produces an estimate of the transformation between the ground plane prior to a displacement and the ground plane after the displacement. In addition, the technique estimates the homographic transformation between ground plane and image plane: this allows to determine the 2D structure of the observed features on the ground. A method to estimate both transformations from the extracted points of two images is presented. Preliminary experimental activities show the effectiveness and the accuracy of the proposed method which is able to handle both relatively large and small rotational displacements.

References

  1. Borenstein, J., Feng, L.: Measurement and correction of systematic odometry errors in mobile robots. IEEE Transaction on Robotics and Automation 12 (1996) 869-880
  2. Triggs, B.: Autocalibration from planar scenes. In: Proceedings of the European Conference on Computer Vision (ECCV 7898), London, UK, Springer-Verlag (1998) 89-105
  3. Knight, J., Zisserman, A., Reid, I.: Linear auto-calibration for ground plane motion. In: Proceedings of the IEEE International Conference on Computer Vision and Pattern Recognition (CVPR 7803). Volume 1., Los Alamitos, CA, USA, IEEE Computer Society (2003) 503-510
  4. McCarthy, C., Barnes, N.: Performance of optical flow techniques for indoor navigation with a mobile robot. In: Proceedings of the IEEE International Conference on Robotics and Automation. Volume 5., Los Alamitos, CA, USA, IEEE Computer Society (2004) 5093- 5098
  5. Nister, D., Naroditsky, O., Bergen, J.: Visual odometry. In: Proceedings of the IEEE International Conference on Computer Vision and Pattern Recognition (CVPR 7804). Volume 1., Los Alamitos, CA, USA, IEEE Computer Society (2004) 652-659
  6. Takaoka, Y., Kida, Y., Kagami, S., Mizoguchi, H., Kanade, T.: 3d map building for a humanoid robot by using visual odometry. In: Proceedings IEEE International Conference on Systems, Man, and Cybernetics. Volume 5., Los Alamitos, CA, USA, IEEE Computer Society (2004) 4444-4449
  7. Agrawal, M., Konolige, K.: Real-time localization in outdoor environments using stereo vision and inexpensive gps. In: Proceedings of the International Conference on Pattern Recognition (ICPR 7806). Volume 3., Los Alamitos, CA, USA, IEEE Computer Society (2006) 1063-1068
  8. Cheng, Y., Maimone, M., Matthies, L.: Visual odometry on the mars exploration rovers - a tool to ensure accurate driving and science imaging. IEEE Robotics and Automation Magazine 13 (2006) 54-62
  9. Davison, A.: Real-time simultaneous localization and mapping with a single camera. In: Proceedings of the IEEE International Conference on Computer Vision (ICCV 7803), Los Alamitos, CA, USA, IEEE Computer Society (2003) 1403-1410
  10. Bunschoten, R., Krose, B.: Visual odometry from an omnidirectional vision system. In: Proceedings of the IEEE International Conference on Robotics and Automation. Volume 1., Los Alamitos, CA, USA, IEEE Computer Society (2003) 577-583
  11. Corke, P., Strelow, D., Singh, S.: Omnidirectional visual odometry for a planetary rover. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. Volume 4., Los Alamitos, CA, USA, IEEE Computer Society (2004) 4007-4012
  12. Wang, H., Yuan, K., Zou, W., Zhou, Q.: Visual odometry based on locally planar ground assumption. In: Proceedings of the IEEE International Conference on Information Acquisition. (2005) 6pp.
  13. Benhimane, S., Malis, E.: Homography-based 2d visual servoing. In: Proceedings of the IEEE International Conference on Robotics and Automation, Los Alamitos, CA, USA, IEEE Computer Society (2006) 2397-2402
  14. Hartley, R.I., Zisserman, A.: Multiple View Geometry in Computer Vision. Second edn. Cambridge University Press (2004)
  15. Harris, C., Stephens, M.: A combined corner and edge detector. In: Proceedings of the Fourth Alvey Vision Conference. (1988) 147-152
  16. Torr, P.H.S., Murray, D.W.: Outlier detection and motion segmentation. In Schenker, P.S., ed.: Sensor Fusion VI, SPIE volume 2059 (1993) 432-443 Boston.
  17. Fischler, M.A., Bolles, R.C.: Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography. Communication of ACM 24 (1981) 381-395
  18. Kovesi, P.D.: MATLAB and Octave functions for computer vision and image processing. School of Computer Science & Software Engineering, The University of Western Australia (2004) Available from: http://www.csse.uwa.edu.au/˜pk/research/matlabfns/.
  19. Lowe, D.G.: Distinctive image features from scale-invariant keypoints. International Journal of Computer Vision 60 (2004) 91-110
Download


Paper Citation


in Harvard Style

Caglioti V. and Gasparini S. (2007). Uncalibrated Visual Odometry for Ground Plane Motion Without Auto-calibration . In Robot Vision - Volume 1: Robot Vision, (VISAPP 2007) ISBN 978-972-8865-76-4, pages 107-116. DOI: 10.5220/0002067301070116


in Bibtex Style

@conference{robot vision07,
author={Vincenzo Caglioti and Simone Gasparini},
title={Uncalibrated Visual Odometry for Ground Plane Motion Without Auto-calibration},
booktitle={Robot Vision - Volume 1: Robot Vision, (VISAPP 2007)},
year={2007},
pages={107-116},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002067301070116},
isbn={978-972-8865-76-4},
}


in EndNote Style

TY - CONF
JO - Robot Vision - Volume 1: Robot Vision, (VISAPP 2007)
TI - Uncalibrated Visual Odometry for Ground Plane Motion Without Auto-calibration
SN - 978-972-8865-76-4
AU - Caglioti V.
AU - Gasparini S.
PY - 2007
SP - 107
EP - 116
DO - 10.5220/0002067301070116