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2014 | OriginalPaper | Chapter

Robust Monocular Visual Odometry for a Ground Vehicle in Undulating Terrain

Authors : Ji Zhang, Sanjiv Singh, George Kantor

Published in: Field and Service Robotics

Publisher: Springer Berlin Heidelberg

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Abstract

Here we present a robust method for monocular visual odometry capable of accurate position estimation even when operating in undulating terrain. Our algorithm uses a steering model to separately recover rotation and translation. Robot 3DOF orientation is recovered by minimizing image projection error, while, robot translation is recovered by solving an NP-hard optimization problem through an approximation. The decoupled estimation ensures a low computational cost. The proposed method handles undulating terrain by approximating ground patches as locally flat but not necessarily level, and recovers the inclination angle of the local ground in motion estimation. Also, it can automatically detect when the assumption is violated by analysis of the residuals. If the imaged terrain cannot be sufficiently approximated by locally flat patches, wheel odometry is used to provide robust estimation. Our field experiments show a mean relative error of less than 1 %.

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previous chapter Terrain Mapping and Control Optimization for a 6-Wheel Rover with Passive Suspension
next chapter Lighting-Invariant Visual Odometry using Lidar Intensity Imagery and Pose Interpolation
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Metadata
Title
Robust Monocular Visual Odometry for a Ground Vehicle in Undulating Terrain
Authors
Ji Zhang
Sanjiv Singh
George Kantor
Copyright Year
2014
Publisher
Springer Berlin Heidelberg
Book
Field and Service Robotics

Print ISBN: 978-3-642-40685-0

Electronic ISBN: 978-3-642-40686-7

Copyright Year: 2014

DOI
https://doi.org/10.1007/978-3-642-40686-7_21