Visual Odometry System Using Multiple Stereo Cameras and Inertial Measurement Unit

Oskiper, Taragay; Zhu, Zhiwei; Samarasekera, Supun; Kumar, Rakesh

doi:10.1109/CVPR.2007.383087

Visual Odometry System Using Multiple Stereo Cameras and Inertial Measurement Unit

Taragay Oskiper, Zhiwei Zhu, Supun Samarasekera, Rakesh Kumar

CVPR 2007

doi:10.1109/CVPR.2007.383087 /cvpr/2007/oskiper2007cvpr-visual/

Abstract

Over the past decade, tremendous amount of research activity has focused around the problem of localization in GPS denied environments. Challenges with localization are highlighted in human wearable systems where the operator can freely move through both indoors and outdoors. In this paper, we present a robust method that addresses these challenges using a human wearable system with two pairs of backward and forward looking stereo cameras together with an inertial measurement unit (IMU). This algorithm can run in real-time with 15 Hz update rate on a dual-core 2 GHz laptop PC and it is designed to be a highly accurate local (relative) pose estimation mechanism acting as the front-end to a simultaneous localization and mapping (SLAM) type method capable of global corrections through landmark matching. Extensive tests of our prototype system so far, reveal that without any global landmark matching, we achieve between 0.5% and 1% accuracy in localizing a person over a 500 meter travel indoors and outdoors. To our knowledge, such performance results with a real time system have not been reported before.

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Cite

Text

Oskiper et al. "Visual Odometry System Using Multiple Stereo Cameras and Inertial Measurement Unit." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2007. doi:10.1109/CVPR.2007.383087

Markdown

[Oskiper et al. "Visual Odometry System Using Multiple Stereo Cameras and Inertial Measurement Unit." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2007.](https://mlanthology.org/cvpr/2007/oskiper2007cvpr-visual/) doi:10.1109/CVPR.2007.383087

BibTeX

@inproceedings{oskiper2007cvpr-visual,
  title     = {{Visual Odometry System Using Multiple Stereo Cameras and Inertial Measurement Unit}},
  author    = {Oskiper, Taragay and Zhu, Zhiwei and Samarasekera, Supun and Kumar, Rakesh},
  booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition},
  year      = {2007},
  doi       = {10.1109/CVPR.2007.383087},
  url       = {https://mlanthology.org/cvpr/2007/oskiper2007cvpr-visual/}
}