Monocular visual odometry using features in the Fourier domain

GASTÓN ARAGUÁS; JORGE SÁNCHEZ; LUIS CANALI

Jornada; VI Jornadas Argentinas de Robótica; 2010

Instituto Tecnológico de Buenos Aires

This paper presents a method to obtain odometry information using a monocular camera. It is intended for a vehicle moving on a plane, smooth surface. Only one camera is used and odometric information is obtained processing image blocks in the Fourier domain. From different shiftsamong image blocks an homography that can translate the set of features associated with the vehicle pose of a given time interval to those of the vehicle s initial pose can be computed.