Developing monocular visual pose estimation for arctic environments
Abstract Arctic regions present one of the harshest environments on Earth for people or mobile robots, yet many important scientific studies, particularly those involving climate change, require measurements from these areas. For the successful deployment of mobile sensors in the Arctic, a high‐qual...
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Online Access: | http://dx.doi.org/10.1002/rob.20325 https://api.wiley.com/onlinelibrary/tdm/v1/articles/10.1002%2Frob.20325 https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20325 |
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crwiley:10.1002/rob.20325 2024-06-23T07:49:20+00:00 Developing monocular visual pose estimation for arctic environments Williams, Stephen Howard, Ayanna M. 2009 http://dx.doi.org/10.1002/rob.20325 https://api.wiley.com/onlinelibrary/tdm/v1/articles/10.1002%2Frob.20325 https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20325 en eng Wiley http://onlinelibrary.wiley.com/termsAndConditions#vor Journal of Field Robotics volume 27, issue 2, page 145-157 ISSN 1556-4959 1556-4967 journal-article 2009 crwiley https://doi.org/10.1002/rob.20325 2024-06-13T04:22:15Z Abstract Arctic regions present one of the harshest environments on Earth for people or mobile robots, yet many important scientific studies, particularly those involving climate change, require measurements from these areas. For the successful deployment of mobile sensors in the Arctic, a high‐quality localization system is required. Although a global positioning system can provide coarse positioning (within several meters), it cannot provide any orientation information. A single‐camera‐pose‐estimation system is presented, based on visual odometry techniques, which is capable of operating in the feature‐poor environments of the Arctic. To validate the system, a prototype rover was developed and fielded on a glacier in Alaska. The resulting pose estimates compare favorably to values obtained by hand registering the same video sequence. Although pose errors do accumulate over time, these errors are typical of a standard odometry system but obtained in an environment where standard odometry is not practical. © 2009 Wiley Periodicals, Inc. Article in Journal/Newspaper Arctic Climate change glacier Alaska Wiley Online Library Arctic Journal of Field Robotics n/a n/a |
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Open Polar |
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Wiley Online Library |
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crwiley |
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English |
description |
Abstract Arctic regions present one of the harshest environments on Earth for people or mobile robots, yet many important scientific studies, particularly those involving climate change, require measurements from these areas. For the successful deployment of mobile sensors in the Arctic, a high‐quality localization system is required. Although a global positioning system can provide coarse positioning (within several meters), it cannot provide any orientation information. A single‐camera‐pose‐estimation system is presented, based on visual odometry techniques, which is capable of operating in the feature‐poor environments of the Arctic. To validate the system, a prototype rover was developed and fielded on a glacier in Alaska. The resulting pose estimates compare favorably to values obtained by hand registering the same video sequence. Although pose errors do accumulate over time, these errors are typical of a standard odometry system but obtained in an environment where standard odometry is not practical. © 2009 Wiley Periodicals, Inc. |
format |
Article in Journal/Newspaper |
author |
Williams, Stephen Howard, Ayanna M. |
spellingShingle |
Williams, Stephen Howard, Ayanna M. Developing monocular visual pose estimation for arctic environments |
author_facet |
Williams, Stephen Howard, Ayanna M. |
author_sort |
Williams, Stephen |
title |
Developing monocular visual pose estimation for arctic environments |
title_short |
Developing monocular visual pose estimation for arctic environments |
title_full |
Developing monocular visual pose estimation for arctic environments |
title_fullStr |
Developing monocular visual pose estimation for arctic environments |
title_full_unstemmed |
Developing monocular visual pose estimation for arctic environments |
title_sort |
developing monocular visual pose estimation for arctic environments |
publisher |
Wiley |
publishDate |
2009 |
url |
http://dx.doi.org/10.1002/rob.20325 https://api.wiley.com/onlinelibrary/tdm/v1/articles/10.1002%2Frob.20325 https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20325 |
geographic |
Arctic |
geographic_facet |
Arctic |
genre |
Arctic Climate change glacier Alaska |
genre_facet |
Arctic Climate change glacier Alaska |
op_source |
Journal of Field Robotics volume 27, issue 2, page 145-157 ISSN 1556-4959 1556-4967 |
op_rights |
http://onlinelibrary.wiley.com/termsAndConditions#vor |
op_doi |
https://doi.org/10.1002/rob.20325 |
container_title |
Journal of Field Robotics |
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1802639695542222848 |