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Type | Conference or Workshop Paper |
Scope | Discipline-based scholarship |
Published in Proceedings | Yes |
Title | ICP stereo visual odometry for wheeled vehicles based on a 1DOF motion prior |
Organization Unit | |
Authors |
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Presentation Type | paper |
Item Subtype | Original Work |
Refereed | Yes |
Status | Published in final form |
Language |
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ISSN | 1050-4729 |
Event Title | IEEE International Conference on Robotics and Automation (ICRA) |
Event Type | conference |
Event Location | Hong Kong |
Event Start Date | May 31 - 2014 |
Event End Date | June 7 - 2014 |
Series Name | IEEE International Conference on Robotics and Automation. Proceedings |
Place of Publication | Hong Kong |
Publisher | Institute of Electrical and Electronics Engineers |
Abstract Text | In this paper, we propose a novel, efficient stereo visual-odometry algorithm for ground vehicles moving in outdoor environments. To avoid the drawbacks of computationally-expensive outlier-removal steps based on random-sample schemes, we use a single-degree-of-freedom kinematic model of the vehicle to initialize an Iterative Closest Point (ICP) algorithm that is utilized to select high-quality inliers. The motion is then computed incrementally from the inliers using a standard linear 3D-to-2D pose-estimation method without any additional batch optimization. The performance of the approach is evaluated against state-of-the-art methods on both synthetic data and publicly-available datasets (e.g., KITTI and Devon Island) collected over several kilometers in both urban environments and challenging off-road terrains. Experiments show that the our algorithm outperforms state-of-the-art approaches in accuracy, runtime, and ease of implementation. |
Related URLs |
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Digital Object Identifier | 10.1109/ICRA.2014.6906914 |
Other Identification Number | merlin-id:10215 |
PDF File | Download from ZORA |
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