Vision-Aided IMU Estimation of Attitude and Orientation for a Driverless Car

  • Lu Lou
  • Suzana Barreto
  • Rokas Zmuidzinavicius
  • Mark Neal
  • Hannah Dee
  • Frédéric Labrosse
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7429)

Abstract

Estimation of attitude and orientation is a critically important technique for ground wheeled autonomous robots like driverless cars. By means of attitude estimation, robots can not only evaluate the risk of overturning the vehicle, but also correct many sensor errors caused by robot motion or vibration. Traditionally, odometry (wheel encoders) is widely used to provide speed information for localization in dead-reckoning systems, and GPS fulfills the same role when robots navigate in outdoor environments. Visual odometry determines the position and orientation of a vehicle based on analyzing a sequence of images only.

Keywords

Autonomous Robot Drift Correction Visual Odometry Mobile Robot Navigation Short Term Precision 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

References

  1. 1.
    Horn, B.K.P.: Robot Vision. MIT electrical engineering and computer science series. The MIT Press (1986)Google Scholar
  2. 2.
    Lou, L., Neal, M., Labrosse, F., Cao, J.: An Approach to Improving Attitude Estimation Based on Low-Cost MEMS-IMU for Mobile Robot Navigation. In: Groß, R., Alboul, L., Melhuish, C., Witkowski, M., Prescott, T.J., Penders, J. (eds.) TAROS 2011. LNCS, vol. 6856, pp. 378–379. Springer, Heidelberg (2011)CrossRefGoogle Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Lu Lou
    • 1
    • 2
  • Suzana Barreto
    • 1
  • Rokas Zmuidzinavicius
    • 1
  • Mark Neal
    • 1
  • Hannah Dee
    • 1
  • Frédéric Labrosse
    • 1
  1. 1.Department of Computer ScienceAberystwyth UniversityCeredigionUnited Kingdom
  2. 2.College of Information Science and EngineeringChongqing Jiaotong UniversityChongqingChina

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