Visual odometry using RGB-D camera on ceiling vision

• Main Authors: Wang, Han, Mou, Wei, Suratno, Hendra, Seet Gim Lee, Gerald, Li, Maohai, Lau, Michael Wai Shing, Wang, Danwei
• Other Authors: School of Electrical and Electronic Engineering
• Format: Conference or Workshop Item
• Language: English
• Published: 2013
• Subjects: DRNTU::Engineering::Electrical and electronic engineering
• Online Access: https://hdl.handle.net/10356/97623; http://hdl.handle.net/10220/12077
• Institution: Nanyang Technological University

In this paper, we present a novel algorithm for odometry computation based on ceiling vision. The main contribution in this algorithm is the introduction of principal direction detection that can greatly reduce error accumulation problem present in most visual odometry estimation approaches. The pri...