Mobile robot ego motion estimation using RANSAC-based ceiling vision

• Main Authors: Wang, Han, Mou, Wei, Ly, Minh Hiep, Lau, Michael Wai Shing, Seet Gim Lee, Gerald, Wang, Danwei
• Other Authors: School of Electrical and Electronic Engineering
• Format: Conference or Workshop Item
• Language: English
• Published: 2013
• Online Access: https://hdl.handle.net/10356/98916; http://hdl.handle.net/10220/12870
• Institution: Nanyang Technological University

Visual odometry is a commonly used technique for recovering motion and location of the robot. In this paper, we present a robust visual odometry estimation approach based on ceiling view from 3D camera (Kinect). We extracted Speedup Robust Features (SURF) from the monocular image frames retrieved fr...