Rover localization from long stereo image sequences using visual odometry based on bundle adjustment

Wenhui Wan; Zhaoqin Liu; Kaichang Di

doi:10.1117/12.910363

15 August 2011 Rover localization from long stereo image sequences using visual odometry based on bundle adjustment

Wenhui Wan, Zhaoqin Liu, Kaichang Di

Proceedings Volume 8203, Remote Sensing of the Environment: The 17th China Conference on Remote Sensing; 820305 (2011) https://doi.org/10.1117/12.910363
Event: Seventeenth China Symposium on Remote Sensing, 2010, Hangzhou, China

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%.

Citation Download Citation

Wenhui Wan, Zhaoqin Liu, and Kaichang Di "Rover localization from long stereo image sequences using visual odometry based on bundle adjustment", Proc. SPIE 8203, Remote Sensing of the Environment: The 17th China Conference on Remote Sensing, 820305 (15 August 2011); https://doi.org/10.1117/12.910363

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