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Localization Using Visual Odometry and a Single Downward-Pointing CameraStereo imaging is a technique commonly employed for vision-based navigation. For such applications, two images are acquired from different vantage points and then compared using transformations to extract depth information. The technique is commonly used in robotics for obstacle avoidance or for Simultaneous Localization And Mapping, (SLAM). Yet, the process requires a number of image processing steps and therefore tends to be CPU-intensive, which limits the real-time data rate and use in power-limited applications. Evaluated here is a technique where a monocular camera is used for vision-based odometry. In this work, an optical flow technique with feature recognition is performed to generate odometry measurements. The visual odometry sensor measurements are intended to be used as control inputs or measurements in a sensor fusion algorithm using low-cost MEMS based inertial sensors to provide improved localization information. Presented here are visual odometry results which demonstrate the challenges associated with using ground-pointing cameras for visual odometry. The focus is for rover-based robotic applications for localization within GPS-denied environments.
Document ID
20120016473
Acquisition Source
Glenn Research Center
Document Type
Conference Paper
Authors
Swank, Aaron J. (NASA Glenn Research Center Cleveland, OH, United States)
Date Acquired
August 26, 2013
Publication Date
September 1, 2012
Subject Category
Instrumentation And Photography
Report/Patent Number
NASA/TM-2012-216043
GRC-E-DAATN5688
E-18443
Funding Number(s)
WBS: WBS 854319.04.03.02.02
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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