학술논문
Improvements in visual odometry algorithm for planetary exploration rovers
Document Type
Conference
Author
Source
2013 International Conference on Emerging Trends in Communication, Control, Signal Processing and Computing Applications (C2SPCA) Emerging Trends in Communication, Control, Signal Processing & Computing Applications (C2SPCA), 2013 International Conference on. :1-6 Oct, 2013
Subject
Language
Abstract
Localization is a key aspect of planetary exploration rovers. Visual odometry algorithm can give improved motion estimates compared to conventional systems (Wheel encoders/Inertial measurement units) when traveling in Steep/Sandy terrains. This paper gives the details of a Visual odometry algorithm developed for future planetary exploration rovers. A new algorithm to improve the feature matching and a computationally efficient method to compute the Jacobian used to model the triangulation errors are given here. The test results indicate good accuracy in estimation for the translational movement.