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Proceedings Paper

Rover localization from long stereo image sequences using visual odometry based on bundle adjustment
Author(s): Wenhui Wan; Zhaoqin Liu; Kaichang Di
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Paper Abstract

This paper proposes a rover localization method from long stereo image sequences by using visual odometry based on bundle adjustment. Firstly, a progressive stereo image network is built by feature tracking in multiple frames of the stereo image sequence. Then exterior orientation parameters of all images in the network are solved by using bundle adjustment technique to get the rover position. Field experimental results demonstrate that the developed method can localize the rover in real time (2fps) with an accuracy of between than 1.5%.

Paper Details

Date Published: 16 August 2011
PDF: 8 pages
Proc. SPIE 8203, Remote Sensing of the Environment: The 17th China Conference on Remote Sensing, 820305 (16 August 2011); doi: 10.1117/12.910363
Show Author Affiliations
Wenhui Wan, Institute of Remote Sensing Applications (China)
Zhaoqin Liu, Institute of Remote Sensing Applications (China)
Kaichang Di, Institute of Remote Sensing Applications (China)


Published in SPIE Proceedings Vol. 8203:
Remote Sensing of the Environment: The 17th China Conference on Remote Sensing

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