Magazine Article

Using Visual Odometry to Estimate Position and Attitude

TBMG-2499

12/01/2007

Abstract
Content

A computer program in the guidance system of a mobile robot generates estimates of the position and attitude of the robot, using features of the terrain on which the robot is moving, by processing digitized images acquired by a stereoscopic pair of electronic cameras mounted rigidly on the robot. Developed for use in localizing the Mars Exploration Rover (MER) vehicles on Martian terrain, the program can also be used for similar purposes on terrestrial robots moving in sufficiently visually textured environments: examples include low-flying robotic aircraft and wheeled robots moving on rocky terrain or inside buildings.

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Citation
"Using Visual Odometry to Estimate Position and Attitude," Mobility Engineering, December 1, 2007.
Additional Details
Publisher
Published
Dec 1, 2007
Product Code
TBMG-2499
Content Type
Magazine Article
Language
English