A robust downward-looking camera based velocity estimation with height compensation for mobile robots

Xiaojing Song, Kaspar Althoefer, Lakmal Seneviratne

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

7 Scopus citations

Abstract

Slip plays a vital role in traction control when a mobile robot traverses over soft soils. To estimate slip parameters, accurate measurement of robot velocity is particularly required. Previous related work done by the authors has adopted a single downward-looking single camera system for velocity and slip estimation [1][2]; however, such a single camera system is prone to lose accuracy when the distance between the camera and terrain is time-varying, such as traversing over uneven terrains [1]. To cope with the problem, this paper presents a robust downward-looking camera based velocity estimation approach, which can particularly be capable of identifying height variation and compensating for velocity estimation. A downward-looking stereo camera instead of previously used single camera is adopted. The camera-terrain distance can be estimated by matching same features in left and right frames. Robot velocity measured with height compensation can be more accurate, compared to estimates without it. The proposed approach has been validated through comprehensive experimental study on a lab-based test rig; and test results show good performance of the proposed approach. With the proposed method, slip estimation techniques given by [2][3] can be promisingly extended to non-flat terrains.

Original languageBritish English
Title of host publication11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010
Pages378-383
Number of pages6
DOIs
StatePublished - 2010
Event11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010 - Singapore, Singapore
Duration: 7 Dec 201010 Dec 2010

Publication series

Name11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010

Conference

Conference11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010
Country/TerritorySingapore
CitySingapore
Period7/12/1010/12/10

Keywords

  • Height compensation
  • Stereo camera
  • Velocity estimation

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