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Stereo Vision and IMU based Real-Time Ego-Motion and Depth Image Computation on a Handheld Device

Schmid, Korbinian and Hirschmüller, Heiko (2013) Stereo Vision and IMU based Real-Time Ego-Motion and Depth Image Computation on a Handheld Device. In: IEEE International Conference on Robotics and Automation (ICRA). ICRA 2013, 6-10 May 2013, Karlsruhe.

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Real-time environmental depth perception and ego-motion estimation is essential for all mobile robotic systems. We present a system that computes high quality depth images with 0.5 MPixel resolution using Semi-Global Matching (SGM) and estimates the ego-motion by key frame based visual odometry fused with the data of an inertial measurement unit (IMU). The hardware includes a pair of cameras, a small Intel Core2Duo CPU board, a Spartan 6 FPGA board, an OMAP3530 ARM processor board as well as an IMU. The total weight of the experimental setup is 830 g and is, thus, also feasible for hand-held or flying platforms. Experiments show that the vision system runs at 14.6 Hz with a latency of around 250 ms and produces high quality depth images as well as reliable 6D ego-motion estimates. In the fusion algorithm of visual odometry and IMU data, time delays of the vision system are compensated and a system state estimate is available at the full data rate of the IMU which is important for system control. This paper presents the integration of different techniques into a fast, light weight, real-time system and validates its performance by experiments on real data.

Item URL in elib:https://elib.dlr.de/87392/
Document Type:Conference or Workshop Item (Speech)
Title:Stereo Vision and IMU based Real-Time Ego-Motion and Depth Image Computation on a Handheld Device
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Schmid, Korbiniankorbinian.schmid (at) dlr.deUNSPECIFIED
Hirschmüller, Heikoheiko.hirschmueller (at) dlr.deUNSPECIFIED
Date:6 May 2013
Journal or Publication Title:IEEE International Conference on Robotics and Automation (ICRA)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Keywords:visual odometry, sensor data fusion, semi global matching, FPGA, stereo vision
Event Title:ICRA 2013
Event Location:Karlsruhe
Event Type:international Conference
Event Dates:6-10 May 2013
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Schmid, Korbinian
Deposited On:09 Jan 2014 18:24
Last Modified:09 Feb 2017 19:20

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