Visual odometry from omnidirectional camera
| Thesis title in Czech: | Visual odometry from omnidirectional camera |
|---|---|
| Thesis title in English: | Visual odometry from omnidirectional camera |
| Key words: | vizuální odometrie, spherická aproximace, odhad pohybu kamery. |
| English key words: | visual odometry, spherical approximation, camera motion estimation. |
| Academic year of topic announcement: | 2012/2013 |
| Thesis type: | diploma thesis |
| Thesis language: | angličtina |
| Department: | Department of Theoretical Computer Science and Mathematical Logic (32-KTIML) |
| Supervisor: | Tomáš Svoboda |
| Author: | hidden - assigned and confirmed by the Study Dept. |
| Date of registration: | 24.04.2012 |
| Date of assignment: | 02.05.2012 |
| Confirmed by Study dept. on: | 02.04.2013 |
| Date and time of defence: | 15.05.2013 09:00 |
| Date of electronic submission: | 14.04.2013 |
| Date of submission of printed version: | 12.04.2013 |
| Date of proceeded defence: | 15.05.2013 |
| Opponents: | RNDr. David Obdržálek, Ph.D. |
| Guidelines |
| A mobile robot that is being developed for urban search and rescue
(USAR) is equipped with various sensors including an omnidirectional camera. Propose an algorithm for visual odometry - estimation of camera (robot) motion from omnidirectional images. Take advantage of omnidirectional data. Convenient geometrical properties of the omnidirectional camera can possibly stabilize the usually ill-conditioned problem. Implement the algorithm within Robot Operating System (ROS) middleware on the robot and evaluate on real data. |
| References |
| [1] Ma, Y. and Soatto, S. and Košecká, J. and Sastry,
S.S. An Invitation to 3-D Vision: From Images to Geometric Models, Springer 2010 [2] Scaramuzza, D. and Fraundorfer, F., Visual Odometry, Robotics & Automation Magazine, IEEE, vol. 18, No 4 [3] Fraundorfer, F., Scaramuzza, D., Visual Odometry: Part II - Matching, Robustness, and Applications, IEEE Robotics and Automation Magazine, 2012 (early access article http://dx.doi.org/10.1109/MRA.2012.2182810) [4] Tardif, J.P. and Pavlidis, Y. and Daniilidis, K. Monocular visual odometry in urban environments using an omnidirectional camera, Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on. [5] Nister, D. and Naroditsky, O. and Bergen, J. Visual odometry for ground vehicle applications, Journal of Field Robotics, vol 23, No 1 |
| Preliminary scope of work |
| Vizuální odometrie ze všesměrové kamery |