DC Field | Value | Language |
---|---|---|
dc.contributor.author | LEE, Hoyong | - |
dc.contributor.author | LEE, Hakjun | - |
dc.contributor.author | Kwak, Inveom | - |
dc.contributor.author | Sung, Chiwon | - |
dc.contributor.author | HAN, SOOHEE | - |
dc.date.accessioned | 2024-03-05T05:40:11Z | - |
dc.date.available | 2024-03-05T05:40:11Z | - |
dc.date.created | 2024-03-03 | - |
dc.date.issued | 2024-01 | - |
dc.identifier.issn | 1063-6536 | - |
dc.identifier.uri | https://oasis.postech.ac.kr/handle/2014.oak/120863 | - |
dc.description.abstract | To achieve accurate pose estimation for robots in industrial applications and services, this brief proposes an effective feature-based downward-facing monocular visual odometry technology that uses an affordable sensor system and a systematic optimization approach. To extract more effective features simply and efficiently from images of the ground, even for small mobile systems, the proposed visual odometry system is designed in a lightweight and cost-effective manner; we used an easily available LED, a single-channel time-of-flight (ToF) sensor, and a monocular camera. From the extracted features, the potentially irrelevant ones are removed in advance, using a masking algorithm and measured velocity. This enhances feature efficiency and reduces the computational burden. Finally, the optimal pose estimate is explicitly obtained by solving a nonconvex optimization problem, to make the best use of the features. The experiments’ results show that our proposed method improves feature tracking ability and pose estimation accuracy. | - |
dc.language | English | - |
dc.publisher | Institute of Electrical and Electronics Engineers | - |
dc.relation.isPartOf | IEEE Transactions on Control Systems Technology | - |
dc.title | Effective Feature-Based Downward-Facing Monocular Visual Odometry | - |
dc.type | Article | - |
dc.identifier.doi | 10.1109/TCST.2023.3294843 | - |
dc.type.rims | ART | - |
dc.identifier.bibliographicCitation | IEEE Transactions on Control Systems Technology, v.32, no.1, pp.266 - 273 | - |
dc.identifier.wosid | 001040643700001 | - |
dc.citation.endPage | 273 | - |
dc.citation.number | 1 | - |
dc.citation.startPage | 266 | - |
dc.citation.title | IEEE Transactions on Control Systems Technology | - |
dc.citation.volume | 32 | - |
dc.contributor.affiliatedAuthor | LEE, Hoyong | - |
dc.contributor.affiliatedAuthor | LEE, Hakjun | - |
dc.contributor.affiliatedAuthor | Kwak, Inveom | - |
dc.contributor.affiliatedAuthor | Sung, Chiwon | - |
dc.contributor.affiliatedAuthor | HAN, SOOHEE | - |
dc.identifier.scopusid | 2-s2.0-85165900885 | - |
dc.description.journalClass | 1 | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.type.docType | Article | - |
dc.subject.keywordPlus | MOBILE ROBOTS | - |
dc.subject.keywordPlus | LOCALIZATION | - |
dc.subject.keywordPlus | INDOOR | - |
dc.subject.keywordPlus | ORB | - |
dc.subject.keywordAuthor | Downward-facing camera | - |
dc.subject.keywordAuthor | masking | - |
dc.subject.keywordAuthor | monocular visual odometry | - |
dc.subject.keywordAuthor | nonconvex optimization | - |
dc.subject.keywordAuthor | robot | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems | - |
dc.relation.journalWebOfScienceCategory | Engineering, Electrical & Electronic | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Automation & Control Systems | - |
dc.relation.journalResearchArea | Engineering | - |
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