Navigational Drift Analysis for Visual Odometry
Hongtao Liu; School of Mechanical Engineering, Shanghai Jiao Tong University, Dongchuan Road 800, Shanghai ; Ruyi Jiang; School of Mechanical Engineering, Shanghai Jiao Tong University, Dongchuan Road 800, Shanghai ; Weng Hu; School of Mechanical Engineering, Shanghai Jiao Tong University, Dongchuan Road 800, Shanghai ; Shigang Wang; School of Mechanical Engineering, Shanghai Jiao Tong University, Dongchuan Road 800, Shanghai
Computing and Informatics, Tome 33 (2015) no. 3, / Harvested from Computing and Informatics
Text on Computing and Informatics
Visual odometry estimates a robot's ego-motion with cameras installed on itself. With the advantages brought by camera being a sensor, visual odometry has been widely adopted in robotics and navigation fields. Drift (or error accumulation) from relative motion concatenation is an intrinsic problem of visual odometry in long-range navigation, as visual odometry is a sensor based on relative measurements. General error analysis using ``mean'' and ``covariance'' of positional error in each axis is not fully capable to describe the behavior of drift. Moreover, no theoretic drift analysis is available for performance evaluation and algorithms comparison. Drift distribution is established in the paper, as a function of the covariance matrix from positional error propagation model. To validate the drift model, experiment with a specific setting is conducted.
Publié le : 2015-02-04
Classification:  Visual odometry, error analysis, motion concatenation, ego-motion, navigational drift,  62L12 
@article{cai2796,
     author = {Hongtao Liu; School of Mechanical Engineering, Shanghai Jiao Tong University, Dongchuan Road 800, Shanghai and Ruyi Jiang; School of Mechanical Engineering, Shanghai Jiao Tong University, Dongchuan Road 800, Shanghai and Weng Hu; School of Mechanical Engineering, Shanghai Jiao Tong University, Dongchuan Road 800, Shanghai and Shigang Wang; School of Mechanical Engineering, Shanghai Jiao Tong University, Dongchuan Road 800, Shanghai},
     title = {Navigational Drift Analysis for Visual Odometry},
     journal = {Computing and Informatics},
     volume = {33},
     number = {3},
     year = {2015},
     language = {en},
     url = {http://dml.mathdoc.fr/item/cai2796}
}

Hongtao Liu; School of Mechanical Engineering, Shanghai Jiao Tong University, Dongchuan Road 800, Shanghai; Ruyi Jiang; School of Mechanical Engineering, Shanghai Jiao Tong University, Dongchuan Road 800, Shanghai; Weng Hu; School of Mechanical Engineering, Shanghai Jiao Tong University, Dongchuan Road 800, Shanghai; Shigang Wang; School of Mechanical Engineering, Shanghai Jiao Tong University, Dongchuan Road 800, Shanghai. Navigational Drift Analysis for Visual Odometry. Computing and Informatics, Tome 33 (2015) no. 3, . http://gdmltest.u-ga.fr/item/cai2796/