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Stereo Visual Odometry for Mobile Robots on Uneven Terrain
School of Technology and Society, University of Skövde, Skövde.
Halmstad University, School of Information Science, Computer and Electrical Engineering (IDE), Halmstad Embedded and Intelligent Systems Research (EIS).
2008 (English)In: WCECS '08 Proceedings of the Advances in Electrical and Electronics Engineering - IAENG Special Edition of the World Congress on Engineering and Computer Science 2008, Washington: IEEE Computer Society, 2008, p. 150-157Conference paper, Published paper (Refereed)
Abstract [en]

In this paper we present a stereo visual odometry system for mobile robots that is not sensitive to uneven terrain. Two cameras is mounted perpendicular to the ground and height and traveled distance are calculated using normalized cross correlation. A method for evaluating the system is developed, where flower boxes containing representative surfaces are placed in a metal-working lathe. The cameras are mounted on the carriage which can be positioned manually with 0.1 mm accuracy. Images are captured every 10 mm over 700 mm. The tests are performed on eight different surfaces representing real world situations. The resulting error is less than 0.6% of traveled distance on surfaces where the maximum height variation is measured to 96 mm. The variance is measured for eight test runs, total 5.6 m, to 0.040 mm. This accuracy is sufficient for crop-scale agricultural operations.

Place, publisher, year, edition, pages
Washington: IEEE Computer Society, 2008. p. 150-157
Keywords [en]
crop-scale agricultural operations, mobile robots, normalized cross correlation, stereo visual odometry system, uneven terrain, agriculture, mobile robots, robot vision, stereo image processing
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:hh:diva-14704DOI: 10.1109/WCECS.2008.26ISI: 000275915300018Scopus ID: 2-s2.0-70350527326ISBN: 978-0-7695-3555-5 OAI: oai:DiVA.org:hh-14704DiVA, id: diva2:408055
Conference
World Congress on Engineering and Computer Science 2008
Available from: 2011-04-02 Created: 2011-04-02 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