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

^*Corresponding author for this work

Department of Computer Science

Research output: Chapter in Book/Report/Conference proceeding › Conference Proceeding (Non-Journal item)

1 Citation (Scopus)

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.

Original language	English
Title of host publication	Advances in Autonomous Robotics - Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress
Publisher	Springer Nature
Pages	465-466
Number of pages	2
ISBN (Electronic)	978-3-642-32527-4
ISBN (Print)	9783642325267
DOIs	https://doi.org/10.1007/978-3-642-32527-4_61
Publication status	Published - 2012
Event	Joint of the 13th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2012 and the 15th Annual FIRA RoboWorld Congress - Bristol, United Kingdom of Great Britain and Northern Ireland Duration: 20 Aug 2012 → 23 Aug 2012

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	7429 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	Joint of the 13th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2012 and the 15th Annual FIRA RoboWorld Congress
Country/Territory	United Kingdom of Great Britain and Northern Ireland
City	Bristol
Period	20 Aug 2012 → 23 Aug 2012

Keywords

autonomous robot
drift correction
visual odometry
mobile robot navigation
short term precision

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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. In Advances in Autonomous Robotics - Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress (pp. 465-466). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 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. pp. 465-466 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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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.",

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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. in 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), vol. 7429 LNAI, Springer Nature, pp. 465-466, Joint of the 13th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2012 and the 15th Annual FIRA RoboWorld Congress, Bristol, United Kingdom of Great Britain and Northern Ireland, 20 Aug 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. p. 465-466 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 7429 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference Proceeding (Non-Journal item)

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AU - Labrosse, Frédéric

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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. In Advances in Autonomous Robotics - Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress. Springer Nature. 2012. p. 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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Keywords

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