Paper Info
Title
Complex Terrain Mapping with Multi-camera Visual Odometry and Realtime Drift Correction
Abstract
We present a low-cost navigation system that integrates 3D data in realtime, allowing exploration and mapping of complex terrain and GPS-denied regions with an inexpensive sensor package. Precise integration of 3D data from sensors on a moving platform requires accurate bearing and position estimates, delivered at high frequency. This bar has only been met using expensive, high-end IMUs and/or differential GPS systems - by contrast, our sensor package includes only a low-cost MEMS IMU. We use multi-camera visual odometry to obtain locally accurate position and orientation for integration of sequential scans from a 3D sensor. These intermediate point clouds accumulate in a custom database which features spatial caching and binary serialization for efficient querying and logarithmic retrieval times. Realtime alignment of overlapping 3D point clouds is used to correct drift. The system was tested using a mobile robot and used to map complex indoor and outdoor environments.
Year
DOI
Venue
2012
10.1109/3DIMPVT.2012.76
3D Imaging, Modeling, Processing, Visualization and Transmission
Keywords
Field
DocType
complex terrain mapping,accurate bearing,accurate position,complex terrain,differential gps system,realtime drift correction,multi-camera visual odometry,inexpensive sensor package,sensor package,low-cost navigation system,point cloud,low-cost mems imu,intermediate point cloud,mobile robots
Computer vision,Serialization,Visual odometry,Computer science,Terrain,Navigation system,Artificial intelligence,Point cloud,Differential GPS,Mobile robot,Binary number
Conference
ISBN
Citations 
PageRank 
978-1-4673-4470-8
1
0.35
References 
Authors
9
6
Name
Order
Citations
PageRank
R. Hadsell11678100.80
Bogdan Matei227019.14
Garbis Salgian3385.66
Aveek Das4132.31
Taragay Oskiper5858.60
Supun Samarasekera679285.72