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An Embedded Stereo Vision Module for 6D Pose Estimation and Mapping
Mälardalen University, School of Innovation, Design and Engineering.
Mälardalen University, School of Innovation, Design and Engineering.
Mälardalen University, School of Innovation, Design and Engineering.
Mälardalen University, School of Innovation, Design and Engineering.ORCID iD: 0000-0001-7934-6917
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2011 (English)In: Proceedings of the IEEE international conference on Intelligent Robots and Systems IROS2011, New York: IEEE Press, 2011, 1626-1631 p.Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents an embedded vision system based on reconfigurable hardware (FPGA) and two CMOS cameras to perform stereo image processing and 3D mapping for autonomous navigation. We propose an EKF based visual SLAM and sparse feature detectors to achieve 6D localization of the vehicle in non flat scenarios. The system can operate regardless of the odometry information from the vehicle since visual odometry is used. As a result, the final system is compact and easy to install and configure.

Place, publisher, year, edition, pages
New York: IEEE Press, 2011. 1626-1631 p.
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:mdh:diva-13603DOI: 10.1109/IROS.2011.6048395ISI: 000297477501148Scopus ID: 2-s2.0-84455195713ISBN: 978-1-61284-455-8 (print)OAI: oai:DiVA.org:mdh-13603DiVA: diva2:466146
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems Location: San Francisco, CA Date: SEP 25-30, 2011
Available from: 2011-12-15 Created: 2011-12-15 Last updated: 2016-06-02Bibliographically approved

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Spampinato, GiacomoAhlberg, CarlEkstrand, FredrikEkström, MikaelAsplund, Lars
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