Nouranics

Nouranics

About this blog

Here you can find information about the things I work with, details of publications, projects, my resume, and software I have written as well slides from the subjects I used to teach.

IMU aided 3D visual odometry for car-like vehicles

PublicationsPosted by navid nourani Fri, January 27, 2012 09:23:16

Authors

Navid Nourani-Vatani, Jonathan Roberts and Mandyam Srinivasan

Publication Date

December 2008

Conference Name & Place

Australasian Conference on Robotics and Automation (ACRA), Canberra, Australia

Abstract

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.

Video


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