Publication
Outdoor delayed-state visually augmented odometry
Conference Article
Conference
IFAC Symposium on Intelligent Autonomous Vehicles (IAV)
Edition
6th
Pages
548-553
Doc link
http://dx.doi.org/10.3182/20070903-3-FR-2921.00093
File
Abstract
This paper presents an efficient approach to outdoor visually augmented odometry. The technique computes relative pose constraints via a robust least squares minimisation of 3D point correspondences, which are in turn obtained from the matching of SIFT features over two consecutive image pairs. Pose constraints are then used to build a history of pose estimates with and incremental delayed-state information filter. The efficiency of the approach resides on the exact sparseness of the delayed-state information form used.
Categories
computer vision, robots.
Author keywords
visual odometry, least squares pose estimation, delayed-state SLAM
Scientific reference
V. Ila, J. Andrade-Cetto and A. Sanfeliu. Outdoor delayed-state visually augmented odometry, 6th IFAC Symposium on Intelligent Autonomous Vehicles, 2007, Toulouse, France, Vol 40-15 of IFAC Proceedings Volumes, pp. 548-553, Elsevier.
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