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Wireless capsule endoscopy (WCE) is the prime diagnostic modality for the small-bowel. It consists in a swallowable color camera that enables the visual detection and assessment of abnormalities, without patient discomfort. The localization of the capsule is currently performed in the 3D abdominal space using radiofrequency (RF) triangulation. However, this approach does not provide sufficient information...
Monocular visual odometry is an active research topic for mobile robot navigation due to its availability and simpleness. However, it inherently suffers from scale ambiguity inherently, so that the precesion of odometry becomes poor. In this paper, we propose a new method to resolve scale ambiguity for monocular visual odometry based on ground area extraction and a modified adaptive kalman-filter...
This paper presents a new dense method to compute the odometry of a free-flying range sensor in real time. The method applies the range flow constraint equation to sensed points in the temporal flow to derive the linear and angular velocity of the sensor in a rigid environment. Although this approach is applicable to any range sensor, we particularize its formulation to estimate the 3-D motion of...
This paper describes and extensively evaluates a visual-based system that autonomously operators for both building a map and localization tasks. The proposed system is to assist mapping services to the visually impaired/blind people in small or mid-scale environments such as inside a building or campus of school, hospital. Toward this end, the proposed approaches solely rely on visual data thanks...
Interest points matching for aerial visual odometry using quadrotor MAV is tackled in this work. First, a set of sparse feature points are extracted using ORB detector. These are then grouped using Gradient Vector Flow (GVF) fields by finding points of high symmetry within the image. A robust matching strategy is introduced to improve the motion estimation. In order to validate ORB features matches,...
RGB-D sensors provide RGB images along with pre-pixel depth information, the richness of their data and recent development of low-cost sensors have made them more popular in mobile robotics research. In this paper, we introduce a framework for real-time mapping in indoor environment by using a RGB-D sensor and present RGB-D mapping, a 3D mapping system that utilizes 3D point clouds available for RGB-D...
Feature detection and feature matching are the most crucial parts in visual odometry process. In order to suit the real time process in visual odometry, both of the stages must be robust but at the same time are fast to compute. This paper presents the evaluation of Scale Invariant Feature Transform (SIFT) and Speeded Up Robust Feature (SURF) performances. The results show that SURF is outperform...
Localization of a mobile robot is a very important issue for robot's navigation. However, localization method with conventional wheel odometry has limits in case the wheel faces slippery conditions. As an alternative way, visual odometry has been researched continuously. However, this method alone has also difficulty for robust localization because wrong depth measurement can frequently occur and...
Visual odometry is an effective method to localize the mobile robotic vehicles. This paper presents GLS and RMKF based visual odometry for a UUV platform, to realize local-area localization or navigation, and a certain underwater experimental results are given to compare and show respective characteristics of the two algorithms.
Recently, visual odometry has gained more attention due to its application to autonomous vehicles and robots. In this paper, we propose visual odometry using a single camera. This configuration is economically more attractive than other popular configurations using stereo cameras. To estimate frame-to-frame motion more accurately, we thoroughly utilize prior knowledge on our operating space and motion...
One of the most challenging problems of field robots is self-localization, which involves incremental update of position while in motion. Though wheel based odometry is cheaper to implement its accuracy degrades when wheels slip. In this paper performance of low-cost visual odometry approach is experimented as a feasibility test for field robot localization. We have used a downward-facing camera and...
Visual odometry is a new navigation technology using video data. For long-range navigation, an intrinsic problem of visual odometry is the appearance of drift. The drift is caused by error accumulation, as visual odometry is based on relative measurements, and will grow unboundedly with time. The paper first reviews algorithms which adopt various methods to suppress this drift. However, as far as...
We present a stereo vision-aided inertial navigation system and demonstrate its potential in power line inspection at close range using an unmaned aerial vehicle. This is made possible by recent developments in visual odometry and a newly proposed algorithm for the loose coupling of an inertial measurement unit and visual odometry. Our experiments show promising results.
Recently, classical pairwise Structure From Motion (SfM) techniques have been combined with non-linear global optimization (Bundle Adjustment, BA) over a sliding window to recursively provide camera pose and feature location estimation from long image sequences. Normally called Visual Odometry, these algorithms are nowadays able to estimate with impressive accuracy trajectories of hundreds of meters;...
In this paper, we propose stereo vision based visual odometry with an effective feature sampling technique for untextured outdoor environment. In order to extract feature points in untextured condition, we divide an image into some sections and affect suitable processes for each section. This approach can also prevent concentration of feature points, and the influence with a moving object can be reduced...
Separating sparse flow provides fast and robust stereo visual odometry that deals with nearly degenerate situations that often arise in practical applications.We make use of the fact that in outdoor situations different constraints are provided by close and far structure, where the notion of close depends on the vehicle speed. The motion of distant features determines the rotational component that...
In this paper, we study how to build a vision-based system for global localization with accuracies within 10 cm. for robots and humans operating both indoors and outdoors over wide areas covering many square kilometers. In particular, we study the parameters of building a landmark database rapidly and utilizing that database online for real-time accurate global localization. Although the accuracy...
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