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Monocular odometry in country roads based on phase‐derived optical flow and 4‐DOF ego‐motion model

Cailing Wang (Department of Computer Science and Technology, Nanjing University of Science and Technology, Nanjing, China)
Chunxia Zhao (Department of Computer Science and Technology, Nanjing University of Science and Technology, Nanjing, China)
Jingyu Yang (Department of Computer Science and Technology, Nanjing University of Science and Technology, Nanjing, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 23 August 2011

Abstract

Purpose

Positioning is a key task in most field robotics applications but can be very challenging in GPS‐denied or high‐slip environments. The purpose of this paper is to describe a visual odometry strategy using only one camera in country roads.

Design/methodology/approach

This monocular odometery system uses as input only those images provided by a single camera mounted on the roof of the vehicle and the framework is composed of three main parts: image motion estimation, ego‐motion computation and visual odometry. The image motion is estimated based on a hyper‐complex wavelet phase‐derived optical flow field. The ego‐motion of the vehicle is computed by a blocked RANdom SAmple Consensus algorithm and a maximum likelihood estimator based on a 4‐degrees of freedom motion model. These as instantaneous ego‐motion measurements are used to update the vehicle trajectory according to a dead‐reckoning model and unscented Kalman filter.

Findings

The authors' proposed framework and algorithms are validated on videos from a real automotive platform. Furthermore, the recovered trajectory is superimposed onto a digital map, and the localization results from this method are compared to the ground truth measured with a GPS/INS joint system. These experimental results indicate that the framework and the algorithms are effective.

Originality/value

The effective framework and algorithms for visual odometry using only one camera in country roads are introduced in this paper.

Keywords

Citation

Wang, C., Zhao, C. and Yang, J. (2011), "Monocular odometry in country roads based on phase‐derived optical flow and 4‐DOF ego‐motion model", Industrial Robot, Vol. 38 No. 5, pp. 509-520. https://doi.org/10.1108/01439911111154081

Publisher

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Emerald Group Publishing Limited

Copyright © 2011, Emerald Group Publishing Limited