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Online visual motion estimation using FastSLAM with SIFT features

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1 Author(s)
T. D. Barfoot ; MDA, Brampton, Ont., Canada

This paper describes a technique to estimate the 3D motion of a vehicle using odometric sensors and a stereo camera. The algorithm falls into the category of simultaneous localization and mapping as a large database of visual landmarks is created. The algorithm has been field tested online on a rover traversing loose terrain in the presence of obstacles. The resulting position estimation errors are between 0.5% and 4% of distance travelled, a significant improvement over odometry alone.

Published in:

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

Date of Conference:

2-6 Aug. 2005