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Household Service Robotics by Xinyu Wu, Huihuan Qian, Yangsheng Xu

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Chapter 3.2

An Error-Aware Incremental Planar Motion Estimation Method Using Paired Vertical Lines for Small Robots in Urban Areas1

Ji Zhang1,  and Dezhen Song2     1The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA     2Computer Science and Engineering Department, Texas A&M University, College Station, TX, USA

Abstract

We report on our development of a monocular visual odometry system based on vertical lines such as vertical edges of buildings and poles in urban areas. Because vertical lines are easy to extract, insensitive to lighting conditions/shadows, and sensitive to robot movements on a ground plane, they are excellent landmarks. We derive an incremental visual odometry method based on vertical line pairs. We analyze ...

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