Efficient off-road localization using visually corrected odometry

Matthew Grimes, Yann LeCun

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We describe an efficient, low-cost, low-overhead system for robot localization in complex visual environments. Our system augments wheel odometry with visual orientation tracking to yield localization accuracy comparable with "pure" visual odometry at a fraction of the cost. Such a system is well-suited to consumer-level robots, small form-factor robots, extraterrestrial rovers, and other platforms with limited computational resources. Our system also benefits high-end multiprocessor robots by leaving ample processor time on all cameracomputer pairs to perform other critical visual tasks, such as obstacle detection. Experimental results are shown for outdoor, off-road loops on the order of 200 meters. Comparisons are made with corresponding results from a state-of-the-art pure visual odometer.

Original languageEnglish (US)
Title of host publication2009 IEEE International Conference on Robotics and Automation, ICRA '09
Pages2649-2654
Number of pages6
DOIs
StatePublished - 2009
Event2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan
Duration: May 12 2009May 17 2009

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2009 IEEE International Conference on Robotics and Automation, ICRA '09
CountryJapan
CityKobe
Period5/12/095/17/09

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Grimes, M., & LeCun, Y. (2009). Efficient off-road localization using visually corrected odometry. In 2009 IEEE International Conference on Robotics and Automation, ICRA '09 (pp. 2649-2654). [5152880] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2009.5152880