Research and Application of Visual Odometer Based on RGB-D Camera

Guoxiang Li, Xiaotie Ma

2018

Abstract

Possessing accurate odometer is the basis of simultaneous localization and mapping accuracy of mobile robot. In view of the huge error and high cost of mobile robot odometer, the visual odometer based on depth camera (RGB-D) is studied. In this paper, the key points are extracted through ORB features which are matched by using fast nearest-neighbor algorithm. And the 3D-3D method is used to obtain the change of camera pose through nonlinear optimization in order to achieve a more accurate visual odometer, which will establish a stable foundation for precise positioning and mapping of mobile robots.

Paper Citation

in Harvard Style

Li G. and Ma X. (2018). Research and Application of Visual Odometer Based on RGB-D Camera.In 3rd International Conference on Electromechanical Control Technology and Transportation - Volume 1: ICECTT, ISBN 978-989-758-312-4, pages 546-549. DOI: 10.5220/0006974105460549

in Bibtex Style

@conference{icectt18,
author={Guoxiang Li and Xiaotie Ma},
title={Research and Application of Visual Odometer Based on RGB-D Camera},
booktitle={3rd International Conference on Electromechanical Control Technology and Transportation - Volume 1: ICECTT,},
year={2018},
pages={546-549},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006974105460549},
isbn={978-989-758-312-4},
}

in EndNote Style

TY - CONF

JO - 3rd International Conference on Electromechanical Control Technology and Transportation - Volume 1: ICECTT,
TI - Research and Application of Visual Odometer Based on RGB-D Camera
SN - 978-989-758-312-4
AU - Li G.
AU - Ma X.
PY - 2018
SP - 546
EP - 549
DO - 10.5220/0006974105460549