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Dr. G. Martinez gave a talk at IEEE iCASAT 2019, Querétaro, Mexico
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All about the IPCV-LAB's Visual Odometry Algorithm
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A new algorithm for vision-based teleoperation of a Schunk's compact LWA 4P Powerball robot arm installed in a Seekur Jr. rover is being developed in the IPCV-LAB.
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IPCV-LAB's latest publications on direct monocular visual odometry for planetary rovers: (1) "CyS", Vol. 22, No. 4 and 2018, (2) "IEEE CCE-2018".
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Dr. Geovanni Martinez will give a talk at IEEE CCE-2018 that will take place in Mexico City from September 5 to 7, 2018.
Dr. Geovanni Martinez will give a talk at IEEE CCE-2018 in Mexico City
Dr. Geovanni Martinez will give a talk at IEEE CCE-2018 entitled "Improving the Robustness of a Direct Visual Odometry Algorithm for Planetary Rovers", which will be held in Mexico City from September 5 to 7, 2018. In following the abstact of the corresponding paper:
Abstact
An algorithm capable of computing the robot position by evaluating measurements of frame to frame intensity differences was extended to be able to detect outliers in the measurements to exclude them from the evaluation to perform the positioning, with the aim of improving its robustness in irregular terrain scenes, such as consisting of flat surfaces with stones on them. The images are taken by a camera firmly attached to the robot, tilted downwards, looking at the planetary surface. A measurement is detected as an outlier only if its intensity difference and linear intensity gradients can not be described by motion compensation. According to the experimental results, this modification reduced the positioning error by a factor of one third in difficult terrain, maintaining its positioning error, which resulted in an average of 1.8%, within a range of 0.15% and 2.5$\%$ of distance traveled, similar to those achieved by state of the art algorithms successfully used in robots here on earth and on Mars.