Design of an enhanced visual odometry by building and matching compressive panoramic landmarks online

作     者：Wei LU 

作者机构：Instttute of lnformat:on and Communtcatlon Engineering Zhejtang Umvers:ty Hangzhou 310027 China Zhejiang Provincial Key Laboratory of Information Network Technology Hangzhou 310027 China 

基　　金：Project supported by the National Natural Science Foundation of China (Nos. 61071219 and 90820306) and the Fundamental Research Funds for the Central Universities  China 

出 版 物：《Frontiers of Information Technology & Electronic Engineering》 (信息与电子工程前沿（英文版）)

年 卷 期：2015年第16卷第2期

页      码：152-165页

摘      要：Efficient and precise localization is a prerequisite for the intelligent navigation of mobile robots. Traditional visual localization systems, such as visual odometry （VO） and simultaneous localization and mapping （SLAM）, suffer from two shortcomings： a drift problem caused by accumulated localization error, and erroneous motion estimation due to illumination variation and moving objects. In this paper, we propose an enhanced VO by introducing a panoramic camera into the traditional stereo-only VO system. Benefiting from the 360° field of view, the panoramic camera is responsible for three tasks： （1） detect- ing road junctions and building a landmark library online; （2） correcting the robot＇s position when the landmarks are revisited with any orientation; （3） working as a panoramic compass when the stereo VO cannot provide reliable positioning results. To use the large-sized panoramic images efficiently, the concept of compressed sensing is introduced into the solution and an adap- tive compressive feature is presented. Combined with our previous two-stage local binocular bundle adjustment （TLBBA） stereo VO, the new system can obtain reliable positioning results in quasi-real time. Experimental results of challenging long-range tests show that our enhanced VO is much more accurate and robust than the traditional VO, thanks to the compressive panoramic landmarks built online.

主 题 词：Visual odometry Panoramic landmark Landmark matching Compressed sensing Adaptive compressive feature 

学科分类：081203[081203] 08[工学] 0835[0835] 0812[工学-测绘类] 

核心收录：

D　O　I：10.1631/FITEE.1400139

馆 藏 号：203428262...