RELIABLE LOCALIZATION AND MAP BUILDING BASED ON VISUAL ODOMETRY AND EGO MOTION MODEL IN DYNAMIC ENVIRONMENT

Pangyu Jeong, Sergiu Nedevschi

2010

Abstract

This paper presents a robust method for localization and map building in dynamic environment. The proposed localization and map building provide general approaches to use them both in indoor and outdoor environments. The proposed localization is based on the relative global position starting from initial departure position. In order to provide reliable positioning information, Visual Odometry (VO) is used instead of ego robot’s encoder. Unlike general VO based localization, the proposed VO does not use iterative refinement in order to select inliers. The suggested VO uses ego motion model based on the motion control. The rotation and translation values of tracked features are guided by the estimated rotation and translation values obtained by motion control. Namely the estimated motion provides upper and lower limits of motion variation of VO. This estimated boundary of motion variation helps to reject outliers among tracked features. The rejected outliers represent tracked features of fast/slow moving objects against ego robot movement. The map is built along with ego robot path. In order to get rich 3D points in each frame accumulated dense map based temporal filter method is adapted.

Paper Citation

in Harvard Style

Jeong P. and Nedevschi S. (2010). RELIABLE LOCALIZATION AND MAP BUILDING BASED ON VISUAL ODOMETRY AND EGO MOTION MODEL IN DYNAMIC ENVIRONMENT . In Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2010) ISBN 978-989-674-028-3, pages 316-321. DOI: 10.5220/0002826503160321

in Bibtex Style

@conference{visapp10,
author={Pangyu Jeong and Sergiu Nedevschi},
title={RELIABLE LOCALIZATION AND MAP BUILDING BASED ON VISUAL ODOMETRY AND EGO MOTION MODEL IN DYNAMIC ENVIRONMENT},
booktitle={Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2010)},
year={2010},
pages={316-321},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002826503160321},
isbn={978-989-674-028-3},
}

in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2010)
TI - RELIABLE LOCALIZATION AND MAP BUILDING BASED ON VISUAL ODOMETRY AND EGO MOTION MODEL IN DYNAMIC ENVIRONMENT
SN - 978-989-674-028-3
AU - Jeong P.
AU - Nedevschi S.
PY - 2010
SP - 316
EP - 321
DO - 10.5220/0002826503160321