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VideoTrek: A vision system for a tag-along robot

8 years 9 months ago
VideoTrek: A vision system for a tag-along robot
We present a system that combines multiple visual navigation techniques to achieve GPS-denied, non-line-of-sight SLAM capability for heterogeneous platforms. Our approach builds on several layers of vision algorithms, including sparse frame-to-frame structure from motion (visual odometry), a Kalman filter for fusion with inertial measurement unit (IMU) data and a distributed visual landmark matching capability with geometric consistency verification. We apply these techniques to implement a tag-along robot, where a human operator leads the way and a robot autonomously follows. We show results for a real-time implementation of such a system with real field constraints on CPU power and network resources.
Oleg Naroditsky, Zhiwei Zhu, Aveek Das, Supun Sama
Added 09 Nov 2010
Updated 09 Nov 2010
Type Conference
Year 2009
Where CVPR
Authors Oleg Naroditsky, Zhiwei Zhu, Aveek Das, Supun Samarasekera, Taragay Oskiper, Rakesh Kumar
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