A Modest System of Feature-based Stereo Visual Odometry

William Gates, Grafika Jati, Riskyana Dewi Intan P, Mahardhika Pratama, Wisnu Jatmiko

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Tracking incremental movements and accurately analyzing the environment for localization is one of the challenges of autonomous robots. The approach is to overcome these challenges to estimating the translational and rotational movements using a paired camera by analyzing the captured images, known as Visual Odometry. In this paper, we build a simple feature-based stereo visual odometry system. This system consists of six main parts: detecting features and computing their descriptors using Oriented FAST and Rotated BRIEF (ORB), matching features brute force based on Hamming distance from feature descriptors, tracking features using Lucas-Kanade optical flow, triangulating points features using linear triangulation, estimating translation and rotation by solving Perspective-n-Point (PnP) problems using a combination of Efficient PnP (EPnP) and Random Sample Consensus (RANSAC) methods, and updating position and orientation estimates. Our system has an average translation root mean squared error of 5.1284% and an average rotation error of 0.027 deg/m on the KITTI public odometry dataset with a performance speed of 18.88 frames per second on a 1-core computer environment with a clock speed of 2.7 GHz.

Original languageEnglish
Title of host publicationProceedings - IWBIS 2021
Subtitle of host publication6th International Workshop on Big Data and Information Security
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages47-52
Number of pages6
ISBN (Electronic)9781665424516
DOIs
Publication statusPublished - 2021
Event6th International Workshop on Big Data and Information Security, IWBIS 2021 - Virtual, Online, Indonesia
Duration: 23 Oct 202126 Oct 2021

Publication series

NameProceedings - IWBIS 2021: 6th International Workshop on Big Data and Information Security

Conference

Conference6th International Workshop on Big Data and Information Security, IWBIS 2021
Country/TerritoryIndonesia
CityVirtual, Online
Period23/10/2126/10/21

Keywords

  • localization
  • motion estimation
  • stereo vision
  • visual odometry

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