Vision-aided IMU estimation of attitude and orientation for a driverless car

Lu Lou; Suzana Barreto; Rokas Zmuidzinavicius; Mark Neal; Hannah Dee; Frédéric Labrosse

doi:10.1007/978-3-642-32527-4_61

Vision-aided IMU estimation of attitude and orientation for a driverless car

Lu Lou^*, Suzana Barreto, Rokas Zmuidzinavicius, Mark Neal, Hannah Dee, Frédéric Labrosse

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Estimation of attitude and orientation is a critically important technique for ground wheeled autonomous robots like driverless cars. By means of attitude estimation, robots can not only evaluate the risk of overturning the vehicle, but also correct many sensor errors caused by robot motion or vibration. Traditionally, odometry (wheel encoders) is widely used to provide speed information for localization in dead-reckoning systems, and GPS fulfills the same role when robots navigate in outdoor environments. Visual odometry determines the position and orientation of a vehicle based on analyzing a sequence of images only.

Iaith wreiddiol	Saesneg
Teitl	Advances in Autonomous Robotics - Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress
Cyhoeddwr	Springer Nature
Tudalennau	465-466
Nifer y tudalennau	2
ISBN (Electronig)	978-3-642-32527-4
ISBN (Argraffiad)	9783642325267
Dynodwyr Gwrthrych Digidol (DOIs)	https://doi.org/10.1007/978-3-642-32527-4_61
Statws	Cyhoeddwyd - 2012
Digwyddiad	Joint of the 13th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2012 and the 15th Annual FIRA RoboWorld Congress - Bristol, Teyrnas Unedig Prydain Fawr a Gogledd Iwerddon Hyd: 20 Awst 2012 → 23 Awst 2012

Cyfres gyhoeddiadau

Enw	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Cyfrol	7429 LNAI
ISSN (Argraffiad)	0302-9743
ISSN (Electronig)	1611-3349

Cynhadledd

Cynhadledd	Joint of the 13th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2012 and the 15th Annual FIRA RoboWorld Congress
Gwlad/Tiriogaeth	Teyrnas Unedig Prydain Fawr a Gogledd Iwerddon
Dinas	Bristol
Cyfnod	20 Awst 2012 → 23 Awst 2012

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10.1007/978-3-642-32527-4_61

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Lou, L., Barreto, S., Zmuidzinavicius, R., Neal, M., Dee, H., & Labrosse, F. (2012). Vision-aided IMU estimation of attitude and orientation for a driverless car. Yn Advances in Autonomous Robotics - Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress (tt. 465-466). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Cyfrol 7429 LNAI). Springer Nature. https://doi.org/10.1007/978-3-642-32527-4_61

Lou, Lu ; Barreto, Suzana ; Zmuidzinavicius, Rokas et al. / Vision-aided IMU estimation of attitude and orientation for a driverless car. Advances in Autonomous Robotics - Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress. Springer Nature, 2012. tt. 465-466 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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title = "Vision-aided IMU estimation of attitude and orientation for a driverless car",

abstract = "Estimation of attitude and orientation is a critically important technique for ground wheeled autonomous robots like driverless cars. By means of attitude estimation, robots can not only evaluate the risk of overturning the vehicle, but also correct many sensor errors caused by robot motion or vibration. Traditionally, odometry (wheel encoders) is widely used to provide speed information for localization in dead-reckoning systems, and GPS fulfills the same role when robots navigate in outdoor environments. Visual odometry determines the position and orientation of a vehicle based on analyzing a sequence of images only.",

keywords = "autonomous robot, drift correction, visual odometry, mobile robot navigation, short term precision",

author = "Lu Lou and Suzana Barreto and Rokas Zmuidzinavicius and Mark Neal and Hannah Dee and Fr{\'e}d{\'e}ric Labrosse",

year = "2012",

doi = "10.1007/978-3-642-32527-4_61",

language = "English",

isbn = "9783642325267",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

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booktitle = "Advances in Autonomous Robotics - Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress",

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Lou, L, Barreto, S, Zmuidzinavicius, R, Neal, M, Dee, H & Labrosse, F 2012, Vision-aided IMU estimation of attitude and orientation for a driverless car. yn Advances in Autonomous Robotics - Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), cyfrol. 7429 LNAI, Springer Nature, tt. 465-466, Joint of the 13th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2012 and the 15th Annual FIRA RoboWorld Congress, Bristol, Teyrnas Unedig Prydain Fawr a Gogledd Iwerddon, 20 Awst 2012. https://doi.org/10.1007/978-3-642-32527-4_61

Vision-aided IMU estimation of attitude and orientation for a driverless car. / Lou, Lu; Barreto, Suzana; Zmuidzinavicius, Rokas et al.
Advances in Autonomous Robotics - Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress. Springer Nature, 2012. t. 465-466 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Cyfrol 7429 LNAI).

Allbwn ymchwil: Pennod mewn Llyfr/Adroddiad/Trafodion Cynhadledd › Trafodion Cynhadledd (Nid-Cyfnodolyn fathau)

TY - GEN

T1 - Vision-aided IMU estimation of attitude and orientation for a driverless car

AU - Lou, Lu

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AU - Zmuidzinavicius, Rokas

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AU - Dee, Hannah

AU - Labrosse, Frédéric

PY - 2012

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N2 - Estimation of attitude and orientation is a critically important technique for ground wheeled autonomous robots like driverless cars. By means of attitude estimation, robots can not only evaluate the risk of overturning the vehicle, but also correct many sensor errors caused by robot motion or vibration. Traditionally, odometry (wheel encoders) is widely used to provide speed information for localization in dead-reckoning systems, and GPS fulfills the same role when robots navigate in outdoor environments. Visual odometry determines the position and orientation of a vehicle based on analyzing a sequence of images only.

AB - Estimation of attitude and orientation is a critically important technique for ground wheeled autonomous robots like driverless cars. By means of attitude estimation, robots can not only evaluate the risk of overturning the vehicle, but also correct many sensor errors caused by robot motion or vibration. Traditionally, odometry (wheel encoders) is widely used to provide speed information for localization in dead-reckoning systems, and GPS fulfills the same role when robots navigate in outdoor environments. Visual odometry determines the position and orientation of a vehicle based on analyzing a sequence of images only.

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Lou L, Barreto S, Zmuidzinavicius R, Neal M, Dee H , Labrosse F. Vision-aided IMU estimation of attitude and orientation for a driverless car. Yn Advances in Autonomous Robotics - Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress. Springer Nature. 2012. t. 465-466. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-642-32527-4_61

Vision-aided IMU estimation of attitude and orientation for a driverless car

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