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Solving the PnP Problem for Visual Odometry – An Evaluation of Methodologies for Mobile Robots

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Advances in Autonomous Robotics (TAROS 2012)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 7429))

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Abstract

The general procedure of visual odomentry (VO) for a mobile robot based on a monocular image stream can be subdivided into different subtasks. The minimal configuration of a VO framework illustrated in the following figure contains three major subtasks: feature handling, structure recovery and motion recovery. The motion recovery is solved by incorporation of general ideas from the fields of photogrammety and stereo vision, where homologous image information is used to derive the geometrical (epipolar) relations between two different images captured from different viewpoints.

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References

  1. Nistér, D.: An efficient solution to the five-point relative pose problem. IEEE Transactions on Pattern Analysis and Machine Intelligence 26(6), 756–777 (2004)

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Author information

Authors and Affiliations

  1. Division Soest, South Westphalia University of Applied Sciences, Luebecker Ring 2, 59494, Soest, Germany

    Dominik Aufderheide, Werner Krybus & Ulf Witkowski

  2. Faculty of Advanced Engineering & Science, The University of Bolton, Deane Road, Bolton, BL3 5AB, U.K.

    Dominik Aufderheide & Gerard Edwards

Authors
  1. Dominik Aufderheide
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  2. Werner Krybus
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  3. Ulf Witkowski
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  4. Gerard Edwards
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Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering and Bristol Robotics Laboratory, University of Bristol, Bristol, UK

    Guido Herrmann

  2. Intelligent Autonomous Systems Lab Faculty of Computing, Engineering & Mathematical Sciences, University of the West of England, BS16 1QY, Bristol, U.K.

    Matthew Studley

  3. University of the West of England, BS34 8QZ, Bristol, UK

    Martin Pearson , Andrew Conn  & Chris Melhuish ,  & 

  4. Department of Electrical and Electronic Engineering, Imperial College London, Exhibition Road, SW7 2BT, London, UK

    Mark Witkowski

  5. Robot Intelligence Technology Laboratory, Department of EECS, KAIST, Daejeon, Korea

    Jong-Hwan Kim

  6. National University of Singapore, Singapore

    Prahlad Vadakkepat

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© 2012 Springer-Verlag Berlin Heidelberg

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Cite this paper

Aufderheide, D., Krybus, W., Witkowski, U., Edwards, G. (2012). Solving the PnP Problem for Visual Odometry – An Evaluation of Methodologies for Mobile Robots. In: Herrmann, G., et al. Advances in Autonomous Robotics. TAROS 2012. Lecture Notes in Computer Science(), vol 7429. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32527-4_54

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  • DOI: https://doi.org/10.1007/978-3-642-32527-4_54

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-32526-7

  • Online ISBN: 978-3-642-32527-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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