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Sensors 2018, 18(9), 2837; https://doi.org/10.3390/s18092837

Lightweight Visual Odometry for Autonomous Mobile Robots

College of Engineering and Computer Science, University of Michigan-Dearborn, Dearborn, MI 48128, USA
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Received: 19 July 2018 / Revised: 23 August 2018 / Accepted: 25 August 2018 / Published: 28 August 2018
(This article belongs to the Special Issue Visual Sensors)
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Abstract

Vision-based motion estimation is an effective means for mobile robot localization and is often used in conjunction with other sensors for navigation and path planning. This paper presents a low-overhead real-time ego-motion estimation (visual odometry) system based on either a stereo or RGB-D sensor. The algorithm’s accuracy outperforms typical frame-to-frame approaches by maintaining a limited local map, while requiring significantly less memory and computational power in contrast to using global maps common in full visual SLAM methods. The algorithm is evaluated on common publicly available datasets that span different use-cases and performance is compared to other comparable open-source systems in terms of accuracy, frame rate and memory requirements. This paper accompanies the release of the source code as a modular software package for the robotics community compatible with the Robot Operating System (ROS). View Full-Text
Keywords: visual odometry; ego-motion estimation; stereo; RGB-D; mobile robots visual odometry; ego-motion estimation; stereo; RGB-D; mobile robots
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Aladem, M.; Rawashdeh, S.A. Lightweight Visual Odometry for Autonomous Mobile Robots. Sensors 2018, 18, 2837.

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