Year: 2010
Type: conference-paper
Abstract: This paper presents the development of a low-cost sensor platform for use in ground-based visual pose estimation and scene mapping tasks. We seek to develop a technical solution using low-cost vision hardware that allows us to accurately estimate robot position for SLAM tasks. We present results from the application of a vision based pose estimation technique to simultaneously determine camera poses and scene structure. The results are generated from a dataset gathered traversing a local road at the St Lucia Campus of the University of Queensland. We show the accuracy of the pose estimation over a 1.6km trajectory in relation to GPS ground truth.
Authors: Michael Warren, David McKinnon, Hu He, Ben Upcroft
Language: English
Subfield: Aerospace Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W1599187539