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Experiments on Stereo Visual Odometry in Feature-Less Volcanic Fields

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Field and Service Robotics

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 105))

Abstract

This paper describes a stereo visual odometry system for volcanic fields which lack visual features on the ground. There are several technical problems in untextured terrain including the diversity of terrain appearance, the lack of welltracked features on surfaces, and the limited computational resources of onboard computers. This paper tries to address these problems and enable efficient and accurate visual localization independently of terrain appearance. Several key techniques are presented including a framework for terrain adaptive feature detection and a motion estimation method using fewer feature points. Field experiments have been conducted in volcanic fields for validation and evaluation of the system effectiveness and efficiency.

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Author information

Authors and Affiliations

  1. The University of Tokyo, 7-3-1 Hongo, Bunkyo, Tokyo, Japan

    Kyohei Otsu

  2. Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency, 3-1-1 Yoshinodai, Chuo, Sagamihara, Kanagawa, Japan

    Masatsugu Otsuki & Takashi Kubota

Authors
  1. Kyohei Otsu
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  2. Masatsugu Otsuki
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  3. Takashi Kubota
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Corresponding author

Correspondence to Kyohei Otsu .

Editor information

Editors and Affiliations

  1. Science and Engineering Faculty, Queensland University of Technology, Brisbane, Queensland, Australia

    Luis Mejias

  2. Science and Engineering Faculty, Queensland University of Technology, Brisbane, Queensland, Australia

    Peter Corke

  3. Autonomous Systems Laboratory QCAT Technology Court, CSIRO ICT Centre, Pullenvale, Queensland, Australia

    Jonathan Roberts

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Otsu, K., Otsuki, M., Kubota, T. (2015). Experiments on Stereo Visual Odometry in Feature-Less Volcanic Fields. In: Mejias, L., Corke, P., Roberts, J. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 105. Springer, Cham. https://doi.org/10.1007/978-3-319-07488-7_25

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  • DOI: https://doi.org/10.1007/978-3-319-07488-7_25

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-07487-0

  • Online ISBN: 978-3-319-07488-7

  • eBook Packages: EngineeringEngineering (R0)

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