English   español  
Por favor, use este identificador para citar o enlazar a este item: http://hdl.handle.net/10261/155347
Compartir / Impacto:
Estadísticas
Add this article to your Mendeley library MendeleyBASE
Visualizar otros formatos: MARC | Dublin Core | RDF | ORE | MODS | METS | DIDL
Título

Visual inertial odometry for mobile robotics

AutorTerrado González, Faust
DirectorAndrade-Cetto, Juan
Fecha de publicación2015
EditorCSIC-UPC - Instituto de Robótica e Informática Industrial (IRII)
ResumenThis work targets the development of a real-time algorithm to track the pose of a mobile robot equipped with an inertial measurement unit and a monocular camera. The method proposed is the Multi-State Constraint Kalman Filter, developed by A. Mourikis and S. Roumeliotis. Its main strength is that it uses the geometric constraints of the features observed without adding them to the state (as in SLAM). The feature processing is delayed until they are out of view, which avoids the usual problems associated to feature initialization. The cost of the algorithm is linear in the number of features (which can be controlled by the detector), which makes it suitable for real-time execution. The method follows the Kalman filtering framework in its error-state variant, which estimates the accumulated error instead of the truestate. The filter is updated with the feature positions, which are computed using Gauss-Newton optimization using the inverse-depth parameterization.
DescripciónInstitut de Robòtica Industrial. Facultat d’Informàtica de Barcelona. Universitat Politècnica de Catalunya.
URIhttp://hdl.handle.net/10261/155347
Aparece en las colecciones: (IRII) Tesis
Ficheros en este ítem:
Fichero Descripción Tamaño Formato  
odometrobot.pdf4,74 MBAdobe PDFVista previa
Visualizar/Abrir
Mostrar el registro completo
 


NOTA: Los ítems de Digital.CSIC están protegidos por copyright, con todos los derechos reservados, a menos que se indique lo contrario.