Dense, Auto-Calibrating Visual Odometry from a Downward-Looking Camera

author: Jacek Zienkiewicz, Department of Computing, Imperial College London
published: April 3, 2014,   recorded: September 2013,   views: 2264
Categories

Slides

Related content

Report a problem or upload files

If you have found a problem with this lecture or would like to send us extra material, articles, exercises, etc., please use our ticket system to describe your request and upload the data.
Enter your e-mail into the 'Cc' field, and we will keep you updated with your request's status.
Lecture popularity: You need to login to cast your vote.
  Delicious Bibliography

Description

We present a technique whereby a single camera can be used as a high precision visual odometry sensor in a range of practical settings using simple, computationally efficient techniques. Taking advantage of the local planarity of common floor surfaces, we use real-time dense alignment of a 30Hz video stream as the camera looks down from a fast-moving robot, making use of the whole texture available rather than sparse feature points. Our key novelty, and crucial to the practicality of this approach, is rapid and automatic calibration for 6DoF camera extrinsics relative to the robot frame. Our experiments show robust performance over a range of low-textured real surfaces.

See Also:

Download slides icon Download slides: bmvc2013_zienkiewicz_visual_odometry_01.pdf (20.8 MB)


Help icon Streaming Video Help

Link this page

Would you like to put a link to this lecture on your homepage?
Go ahead! Copy the HTML snippet !

Write your own review or comment:

make sure you have javascript enabled or clear this field: