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

Fulltext:


Authors:

Giacomo Spampinato , Jörgen Lidholm, Carl Ahlberg, Fredrik Ekstrand, Mikael Ekström, Lars Asplund

Research group:

Robotics

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.mdu.se/publications/2210-}
}