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Enhancing 3d Visual Odometry With Single-Camera Stereo Omnidirectional Systems, Carlos A. Jaramillo Sep 2018

Enhancing 3d Visual Odometry With Single-Camera Stereo Omnidirectional Systems, Carlos A. Jaramillo

All Dissertations, Theses, and Capstone Projects

We explore low-cost solutions for efficiently improving the 3D pose estimation problem of a single camera moving in an unfamiliar environment. The visual odometry (VO) task -- as it is called when using computer vision to estimate egomotion -- is of particular interest to mobile robots as well as humans with visual impairments. The payload capacity of small robots like micro-aerial vehicles (drones) requires the use of portable perception equipment, which is constrained by size, weight, energy consumption, and processing power. Using a single camera as the passive sensor for the VO task satisfies these requirements, and it motivates the proposed solutions ...