A Vision-Based Odometer for Localization of Omnidirectional Indoor Robots

A Vision-Based Odometer for Localization of Omnidirectional Indoor Robots

In this paper we tackle the problem of indoor robot localization by using a vision-based approach. Specifically, we propose a visual odometer able to give back the relative pose of an omnidirectional automatic guided vehicle (AGV) that moves inside an indoor industrial environment. A monocular downw...

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Bibliographic Details
Main Authors: Cosimo Patruno, Roberto Colella, Massimiliano Nitti, Vito Renò, Nicola Mosca, Ettore Stella
Format: Article
Language:English
Published: MDPI AG 2020-02-01
Series:Sensors
Subjects:
visual odometry
vision-based odometer
affine pose estimation
computer vision
surf
monocular camera
feature-based approach
Online Access:https://www.mdpi.com/1424-8220/20/3/875

Internet

https://www.mdpi.com/1424-8220/20/3/875

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