| Abstract
|
<p>In this paper we present a stereo … <p>In this paper we present a stereo visual odometry system for mobile robots that is not sensitive to uneven terrain. Two cameras is mounted perpendicular to the ground and height and traveled distance are calculated using normalized cross correlation. A method for evaluating the system is developed, where flower boxes containing representative surfaces are placed in a metal-working lathe. The cameras are mounted on the carriage which can be positioned manually with 0.1 mm accuracy. Images are captured every 10 mm over 700 mm. The tests are performed on eight different surfaces representing real world situations. The resulting error is less than 0.6% of traveled distance on surfaces where the maximum height variation is measured to 96 mm. The variance is measured for eight test runs, total 5.6 m, to 0.040 mm. This accuracy is sufficient for crop-scale agricultural operations.</p>p-scale agricultural operations.</p>
|
| Author
|
Stefan Ericson +
, Björn Åstrand +
|
| Conference
|
World Congress on Engineering and Computer Science 2008
|
| DOI
|
http://dx.doi.org/10.1109/WCECS.2008.26 +
|
| Diva
|
http://hh.diva-portal.org/smash/record.jsf?searchId=1&pid=diva2:408055
|
| EndPage
|
157 +
|
| HostPublication
|
WCECS '08 Proceedings of the Advances in Electrical and Electronics Engineering - IAENG Special Edition of the World Congress on Engineering and Computer Science 2008 +
|
| PublicationType
|
Conference Paper +
|
| Publisher
|
IEEE Computer Society +
|
| StartPage
|
150 +
|
| Title
|
Stereo Visual Odometry for Mobile Robots on Uneven Terrain +
|
| Year
|
2008 +
|
| Has queryThis property is a special property in this wiki.
|
Publications:Stereo Visual Odometry for Mobile Robots on Uneven Terrain +
, Publications:Stereo Visual Odometry for Mobile Robots on Uneven Terrain +
, Publications:Stereo Visual Odometry for Mobile Robots on Uneven Terrain +
, Publications:Stereo Visual Odometry for Mobile Robots on Uneven Terrain +
, Publications:Stereo Visual Odometry for Mobile Robots on Uneven Terrain +
, Publications:Stereo Visual Odometry for Mobile Robots on Uneven Terrain +
, Publications:Stereo Visual Odometry for Mobile Robots on Uneven Terrain +
, Publications:Stereo Visual Odometry for Mobile Robots on Uneven Terrain +
, Publications:Stereo Visual Odometry for Mobile Robots on Uneven Terrain +
, Publications:Stereo Visual Odometry for Mobile Robots on Uneven Terrain +
|
| Categories |
Publication +
|
| Modification dateThis property is a special property in this wiki.
|
30 September 2016 20:42:04 +
|
