Visual Odometry

The experimental results of testing the monocular visual odometry algorithm developed by the IPCV-LAB in a real rover platform Husky A200 over flat terrain for localization in outdoor sunlit conditions were recently presented in IAPR MVA-2017. The algorithm computes the three-dimensional (3D) position of the rover by integrating its motion over time. The motion is directly estimated by maximizing a likelihood function that is the natural logarithm of  the conditional probability of intensity differences measured at different observation points between consecutive images. It does not require as an intermediate step to determine the optical flow or establish correspondences. The images are captured by a monocular video camera that has been mounted on the rover looking to one side tilted downwards to the planet's surface. Most of the experiments were conducted under severe global illumination changes. Comparisons with ground truth data have shown an average absolute position error of  0.9% of distance traveled with an average processing time per image of 0.06 seconds.

 

See presented poster in IAPR MVA-2017 here.