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An embedded stereo vision module for industrial vehicles automation
Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.ORCID iD: 0000-0001-7934-6917
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2013 (English)In: Proceedings of the IEEE International Conference on Industrial Technology, IEEE , 2013, 52-57 p.Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents an embedded vision system based on reconfigurable hardware (FPGA) to perform stereo image processing and 3D mapping of sparse features for autonomous navigation and obstacle detection in industrial settings. We propose an EKF based visual SLAM to achieve a 6D localization of the vehicle even in non flat scenarios. The system uses vision as the only source of information. As a consequence, it operates regardless of the odometry from the vehicle since visual odometry is used. © 2013 IEEE.

Place, publisher, year, edition, pages
IEEE , 2013. 52-57 p.
Keyword [en]
3D vision, Embedded, portable, SLAM
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:mdh:diva-19056DOI: 10.1109/ICIT.2013.6505647Scopus ID: 2-s2.0-84877621168ISBN: 9781467345699 (print)OAI: oai:DiVA.org:mdh-19056DiVA: diva2:623032
Conference
2013 IEEE International Conference on Industrial Technology, ICIT 2013; Cape Town; South Africa; 25 February 2013 through 28 February 2013
Available from: 2013-05-24 Created: 2013-05-24 Last updated: 2015-11-13Bibliographically approved

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Spampinato, GiacomoAhlberg, CarlEkstrand, FredrikEkström, MikaelAsplund, Lars
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CiteExportLink to record
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Citation style
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Language
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