Large scale egomotion and error analysis with visual features
- Cazorla, Miguel
- Viejo Hernando, Diego
- Hernández Gutiérrez, Andrés
- Nieto, Juan
- Nebot, Eduardo
ISSN: 1888-0258
Ano de publicación: 2010
Título do exemplar: Special Session on Workshop of Physical Agents 2009
Volume: 4
Número: 1
Páxinas: 19-24
Tipo: Artigo
Outras publicacións en: JoPha: Journal of Physical Agents
Resumo
Several works deal with 3D data in SLAM problem but many of them are focused on short scale maps. In this paper, we propose a method that can be used for computing the 6DoF trajectory performed by a robot from the stereo images captured during a large scale trajectory. The method transforms robust 2D features extracted from the reference stereo images to the 3D space. These 3D features are then used for obtaining the correct robot movement. Both Sift and Surf methods for feature extraction have been used. Also, a comparison between our method and the results of the ICP algorithm have been performed. We have also made a study about errors in stereo cameras.