Navid Nourani-Vatani, Jonathan Roberts and Mandyam Srinivasan
Conference Name & Place
Australasian Conference on Robotics and Automation (ACRA), Canberra, Australia
We present a method for calculating odometry in three-dimensions for car-like ground vehicles with an Ackerman-like steering model. In our approach we use the information from a single camera to derive the odometry in the plane and fuse it with roll and pitch information derived from an on-board IMU to extend to three-dimensions, thus providing odometric altitude as well as traditional x and y translation. We have mounted the odometry module on a standard Toyota Prado SUV and present results from a car-park environment as well as from an off-road track.