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The fundamental problem of localization remains one of the key areas of improvement concerning any type of mobile vehicle. Lately great interest in the research community was presented for vision based localization methods. In this article a solution is proposed for radically improving precision when a stereo camera is used for image acquisition. While providing great number of advantages, stereo...
This paper proposes an accurate localization method, which consists of a non-probabilistic motion model and Generalized Iterative Closet Point (GICP). The most encountered problem of using motion models is to determine empirical parameters, which represent the systemic errors and the non-systemic errors. The perfect representation of those errors is an extremely difficult task, and it is practically...
This paper proposes the Lightweight Visual Odometry algorithm for mobile robot localization. The proposed algorithm deals with two main difficulties: real-time functionality and robustness against environmental noise. In order to obtain real-time computation we use a closed form solution that approximates the transformation between successive pairs of points. This solution is used to compute motion...
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