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Our goal is to create a visual odometry system for robots and wearable systems such that localization accuracies of centimeters can be obtained for hundreds of meters of distance traveled. Existing systems have achieved approximately a 1% to 5% localization error rate whereas our proposed system achieves close to 0.1% error rate, a ten-fold reduction. Traditional visual odometry systems drift over...
Over the past decade, tremendous amount of research activity has focused around the problem of localization in GPS denied environments. Challenges with localization are highlighted in human wearable systems where the operator can freely move through both indoors and outdoors. In this paper, we present a robust method that addresses these challenges using a human wearable system with two pairs of backward...
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