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

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

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 languageEnglish
Title of host publicationAdvances in Autonomous Robotics - Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress
PublisherSpringer Nature
Pages465-466
Number of pages2
ISBN (Electronic)978-3-642-32527-4
ISBN (Print)9783642325267
DOIs
Publication statusPublished - 2012
EventJoint 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 201223 Aug 2012

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume7429 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

ConferenceJoint of the 13th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2012 and the 15th Annual FIRA RoboWorld Congress
Country/TerritoryUnited Kingdom of Great Britain and Northern Ireland
CityBristol
Period20 Aug 201223 Aug 2012

Keywords

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

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