You are required to read and agree to the below before accessing a full-text version of an article in the IDE article repository.

The full-text document you are about to access is subject to national and international copyright laws. In most cases (but not necessarily all) the consequence is that personal use is allowed given that the copyright owner is duly acknowledged and respected. All other use (typically) require an explicit permission (often in writing) by the copyright owner.

For the reports in this repository we specifically note that

  • the use of articles under IEEE copyright is governed by the IEEE copyright policy (available at http://www.ieee.org/web/publications/rights/copyrightpolicy.html)
  • the use of articles under ACM copyright is governed by the ACM copyright policy (available at http://www.acm.org/pubs/copyright_policy/)
  • technical reports and other articles issued by M‰lardalen University is free for personal use. For other use, the explicit consent of the authors is required
  • in other cases, please contact the copyright owner for detailed information

By accepting I agree to acknowledge and respect the rights of the copyright owner of the document I am about to access.

If you are in doubt, feel free to contact webmaster@ide.mdh.se

An Embedded Stereo Vision Module for 6D Pose Estimation and Mapping

Fulltext:


Research group:


Publication Type:

Conference/Workshop Paper

Venue:

Proceedings of the IEEE international conference on Intelligent Robots and Systems IROS2011


Abstract

This paper presents an embedded vision system based on reconfigurable hardware (FPGA) and two CMOS cameras to perform stereo image processing and 3D mapping for autonomous navigation. We propose an EKF based visual SLAM and sparse feature detectors to achieve 6D localization of the vehicle in non flat scenarios. The system can operate regardless of the odometry information from the vehicle since visual odometry is used. As a result, the final system is compact and easy to install and configure.

Bibtex

@inproceedings{Spampinato2210,
author = {Giacomo Spampinato and J{\"o}rgen Lidholm and Carl Ahlberg and Fredrik Ekstrand and Mikael Ekstr{\"o}m and Lars Asplund},
title = {An Embedded Stereo Vision Module for 6D Pose Estimation and Mapping},
month = {September},
year = {2011},
booktitle = {Proceedings of the IEEE international conference on Intelligent Robots and Systems IROS2011},
url = {http://www.es.mdh.se/publications/2210-}
}