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Algorithms for Visual Odometry in Outdoor Field Environment
University of Skövde, Skövde, Sweden.
Halmstad University, School of Information Science, Computer and Electrical Engineering (IDE), Halmstad Embedded and Intelligent Systems Research (EIS).
2007 (English)In: Proceedings of the 13th IASTED International Conference on Robotics and Applications: August 29 - 31, 2007, Würzburg, Germany / [ed] Schilling, K, Anaheim, Calif.: ACTA Press, 2007, p. 287-292Conference paper, Published paper (Refereed)
Abstract [en]

In this paper different algorithms for visual odometry are evaluated for navigating an agricultural weeding robot in outdoor field environment. Today there is an encoder wheel that keeps track of the weeding tools position relative the camera, but the system suffers from wheel slippage and errors caused by the uneven terrain. To overcome these difficulties the aim is to replace the encoders with visual odometry using the plant recognition camera. Four different optical flow algorithms are tested on four different surfaces, indoor carpet, outdoor asphalt, grass and soil. The tests are performed on an experimental platform. The result shows that the errors consist mainly of dropouts caused by overriding maximum speed, and of calibration error due to uneven ground. The number of dropouts can be reduced by limiting the maximum speed and detection of missing frames. The calibration problem can be solved using stereo cameras. This gives a height measurement and the calibration will be given by camera mounting. The algorithm using normalized cross-correlation shows the best result concerning number of dropouts, accuracy and calculation time.

Place, publisher, year, edition, pages
Anaheim, Calif.: ACTA Press, 2007. p. 287-292
Series
IASTED International Conference on Robotics and Applications, ISSN 1027-264X
Keywords [en]
agricultural applications, computer vision, visual odometry, optical flow
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:hh:diva-2158ISI: 000251420100048Scopus ID: 2-s2.0-56149093160Local ID: 2082/2553ISBN: 978-0-88986-685-0 OAI: oai:DiVA.org:hh-2158DiVA, id: diva2:239376
Conference
13th IASTED International Conference on Robotics and Applications/IASTED International Conference on Telematics, Julius Maximilians Univ. Würzburg, Würzburg, Germany, 29-31 August, 2007
Available from: 2008-11-24 Created: 2008-11-24 Last updated: 2018-03-23Bibliographically approved

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Åstrand, Björn

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf