Stereo ego-motion improvements for robust rover navigation
- 13 November 2002
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2, 1099-1104
- https://doi.org/10.1109/robot.2001.932758
Abstract
Robust navigation for mobile robots over long distances requires an accurate method for tracking the robot position in the environment. Techniques for position estimation by determining the camera egomotion from monocular or stereo sequences have been previously described. However, long-distance navigation requires a very high level of robustness and a very low rate of error growth. In this paper, we describe a methodology for long-distance rover navigation that meets these goals using robust...Keywords
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