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.

Practical Visual Odometry for Car-like Vehicles

PublicationsPosted by navid nourani Fri, January 27, 2012 09:26:30

Authors

Navid Nourani-Vatani, Jonathan Roberts and Mandyam Srinivasan

Publication Date

May 2009

Conference Name & Place

IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan

Abstract

A method for calculating visual odometry for ground vehicles with car-like kinematic motion constraints similar to Ackerman's steering model is presented. By taking advantage of this non-holonomic driving constraint we show a simple and practical solution to the odometry calculation by clever placement of a single camera. The method has been implemented successfully on a large industrial forklift and a Toyota Prado SUV. Results from our industrial test site is presented demonstrating the applicability of this method as a replacement for wheel encoder-based odometry for these vehicles.


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