Visual odometry for outdoor environment using a downward-tilting camera and self-shadow removal algorithm

Sungho Hong, Jae Bok Song, Joo Hyun Baek, Jae Kwan Ryu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

Stereo vision based visual odometry faces few challenges when it is performed in the outdoor environment. The first problem is the inaccurate depth values which result in poor distance estimation. This problem can be solved by tilting a stereo camera downward and using features from the ground texture. Second, self-shadow made by the sun can causes errors in estimating the robot movement since it looks stationary in the robot's perspective. This was resolved by estimating the sun ray direction and excluding the self-shadow area in the camera image. This process can be conducted by using only a first image that the robot grabs. These two algorithms were proven to be successful in improving the accuracy of visual odometry in the outdoor environment.

Original languageEnglish
Title of host publicationICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems
Pages960-963
Number of pages4
Publication statusPublished - 2012
Event2012 12th International Conference on Control, Automation and Systems, ICCAS 2012 - Jeju, Korea, Republic of
Duration: 2012 Oct 172012 Oct 21

Publication series

NameInternational Conference on Control, Automation and Systems
ISSN (Print)1598-7833

Other

Other2012 12th International Conference on Control, Automation and Systems, ICCAS 2012
CountryKorea, Republic of
CityJeju
Period12/10/1712/10/21

Keywords

  • Outdoor navigation
  • Self-shadow
  • Visual odometry

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Hong, S., Song, J. B., Baek, J. H., & Ryu, J. K. (2012). Visual odometry for outdoor environment using a downward-tilting camera and self-shadow removal algorithm. In ICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems (pp. 960-963). [6393363] (International Conference on Control, Automation and Systems).