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Stereo based Visual Odometry


Abstract The exponential rise in unmanned aerial vehicles has necessitated the need for accurate pose estimation under any extreme conditions. Visual Odometry (VO) is the estimation of position and orientation of a vehicle based on analysis of a sequence of images captured from a camera mounted on it. VO offers a cheap and relatively accurate alternative to conventional odometry techniques like wheel odometry, inertial measurement systems and global positioning system (GPS). This thesis implements and analyzes the performance of a two camera based VO called Stereo based visual odometry (SVO) in presence of various deterrent factors like shadows, extremely bright outdoors, wet conditions etc... To allow the implementation of VO on any generic vehicle... (more)
Created Date 2010
Contributor Dhar, Anchit (Author) / Saripalli, Srikanth (Advisor) / Li, Baoxin (Committee member) / Papandreou-Suppappola, Antonia (Committee member) / Arizona State University (Publisher)
Subject Electrical Engineering / Computer Science / GPS-denied / navigation / Stereo vision / Vision / Visual Odometry
Type Masters Thesis
Extent 55 pages
Language English
Copyright
Reuse Permissions All Rights Reserved
Note M.S. Electrical Engineering 2010
Collaborating Institutions Graduate College / ASU Library
Additional Formats MODS / OAI Dublin Core / RIS


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Description Dissertation/Thesis