Consiglio Nazionale delle Ricerche

Tipo di prodottoArticolo in rivista
TitoloMixed Marked-based/Marked-less Visual Odometry System for Mobile Robots
Anno di pubblicazione2013
Autore/iF. Lamberti, A. Sanna, G. Paravati, P. Montuschi, V. Gatteschi. Demartini
Affiliazioni autoriPolitecnico di Torino, Dipartimento di Automatica e Informatica, Torino, Italy
Autori CNR e affiliazioni
  • inglese
AbstractWhen moving in generic indoor environments, robotic platforms generally rely solely on information provided by onboard sensors to determine their position and orientation. However, the lack of absolute references often leads to the introduction of severe drifts in estimates computed, making autonomous operations really hard to accomplish. This paper proposes a solution to alleviate the impact of the above issues by combining two vision-based pose estimation techniques working on relative and absolute coordinate systems, respectively. In particular, the unknown ground features in the images that are captured by the vertical camera of a mobile platform are processed by a vision-based odometry algorithm, which is capable of estimating the relative frame-to-frame movements. Then, errors accumulated in the above step are corrected using artificial markers displaced at known positions in the environment. The markers are framed from time to time, which allows the robot to maintain the drifts bounded by additionally providing it with the navigation commands needed for autonomous flight. Accuracy and robustness of the designed technique are demonstrated using an off-the-shelf quadrotor via extensive experimental tests.
Lingua abstractinglese
Altro abstract-
Lingua altro abstract-
Pagine da1
Pagine a11
Pagine totali11
RivistaInternational journal of advanced robotic systems (Print)
Attiva dal 2004
Editore: Institute for Production Engineering. Intelligent Manufacturing Systems. Vienna University of Technology. - Wien
Paese di pubblicazione: Austria
Lingua: inglese
ISSN: 1729-8806
Titolo chiave: International journal of advanced robotic systems (Print)
Titolo abbreviato: Int. j. adv. robot. syst. (Print)
Titoli alternativi:
  • ARS (Print)
  • ARS journal (Print)
Numero volume della rivista10
Fascicolo della rivista-
Verificato da refereeSì: Internazionale
Stato della pubblicazionePublished version
Indicizzazione (in banche dati controllate)-
Parole chiaveUnmanned Aerial Vehicle (UAV), Flying Robot, Quadrotor, Scale-Invariant Feature Transform (SIFT), Fiducial Marker, ARTag, Visual Odometry
Link (URL, URI)
Titolo parallelo-
Data di accettazione-
Note/Altre informazioni-
Strutture CNR
  • IEIIT — Istituto di elettronica e di ingegneria dell'informazione e delle telecomunicazioni
Moduli/Attività/Sottoprogetti CNR
  • ICT.P07.004.001 : Reti e Protocolli per l'Automazione ed il Controllo di Processo
Progetti Europei-
Mixed Marked-based/Marked-less Visual Odometry System for Mobile Robots (documento privato )
Tipo documento: application/pdf