Detail publikace

Design of visual odometry system for mobile robot

RŮŽIČKA, M. MAŠEK, P.

Originální název

Design of visual odometry system for mobile robot

Anglický název

Design of visual odometry system for mobile robot

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

čeština

Originální abstrakt

This paper deals with design of hybrid software and hardware sensor, which can be used for mobile robots visual odometry task. The paper is focused to sensing raw data only. This approach combines onboard hardware sensors -accelerometer, gyroscope, magnetometer and camera with software module, which is mainly based on computer vision. Output from vision system is relative change of position and rotation of mobile robot. The position change is calculated for two axes based on vision data and the relative rotation is based on data fusion of three onboard sensors.

Anglický abstrakt

This paper deals with design of hybrid software and hardware sensor, which can be used for mobile robots visual odometry task. The paper is focused to sensing raw data only. This approach combines onboard hardware sensors -accelerometer, gyroscope, magnetometer and camera with software module, which is mainly based on computer vision. Output from vision system is relative change of position and rotation of mobile robot. The position change is calculated for two axes based on vision data and the relative rotation is based on data fusion of three onboard sensors.

Klíčová slova

phase correlation; odometry; gyroscope; accelerometer; magnetometer; mobile robot; unmanned aerial vehicle; computer vision; image registration; trajectory estimation; visual odometry; optical flow; android operating system; low cost power devices

Klíčová slova v angličtině

phase correlation; odometry; gyroscope; accelerometer; magnetometer; mobile robot; unmanned aerial vehicle; computer vision; image registration; trajectory estimation; visual odometry; optical flow; android operating system; low cost power devices

Autoři

RŮŽIČKA, M.; MAŠEK, P.

Rok RIV

2014

Vydáno

3. 12. 2014

Nakladatel

Brno University of technology

ISBN

978-80-214-4817-9

Kniha

16th International Conference on Mechatronics – Mechatronika 2014

Edice

1

Číslo edice

1

Strany od

548

Strany do

553

Strany počet

6

BibTex

@inproceedings{BUT111115,
  author="Michal {Růžička} and Petr {Mašek}",
  title="Design of visual odometry system for mobile robot",
  booktitle="16th International Conference on Mechatronics – Mechatronika 2014",
  year="2014",
  series="1",
  number="1",
  pages="548--553",
  publisher="Brno University of technology",
  isbn="978-80-214-4817-9"
}