An embedded stereo vision module for industrial vehicles automation

This paper presents an embedded vision system based on reconfigurable hardware (FPGA) to perform stereo image processing and 3D mapping of sparse features for autonomous navigation and obstacle detection in industrial settings. We propose an EKF based visual SLAM to achieve a 6D localization of the vehicle even in non flat scenarios. The system uses vision as the only source of information. As a consequence, it operates regardless of the odometry from the vehicle since visual odometry is used.

[1]  Lars Asplund,et al.  An embedded stereo vision module for 6D pose estimation and mapping , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[2]  Peter Meer,et al.  Estimation of Nonlinear Errors-in-Variables Models for Computer Vision Applications , 2006, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[3]  Alonzo Kelly,et al.  Field and service applications - An infrastructure-free automated guided vehicle based on computer vision - An Effort to Make an Industrial Robot Vehicle that Can Operate without Supporting Infrastructure , 2007, IEEE Robotics & Automation Magazine.

[4]  Frans C. A. Groen,et al.  Bias reduction for stereo based motion estimation with applications to large scale visual odometry , 2009, 2009 IEEE Conference on Computer Vision and Pattern Recognition.

[5]  Larry H. Matthies,et al.  Error modeling in stereo navigation , 1986, IEEE J. Robotics Autom..

[6]  Alonzo Kelly,et al.  A An Infrastructure-Free Automated Guided Vehicle Based on Computer Vision , 2007 .

[7]  Lars Asplund,et al.  GIMME - A General Image Multiview Manipulation Engine , 2011, 2011 International Conference on Reconfigurable Computing and FPGAs.

[8]  David Nistér,et al.  An efficient solution to the five-point relative pose problem , 2003, 2003 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2003. Proceedings..

[9]  Robert B. Fisher,et al.  Estimating 3-D rigid body transformations: a comparison of four major algorithms , 1997, Machine Vision and Applications.

[10]  Jean-Yves Bouguet,et al.  Camera calibration toolbox for matlab , 2001 .

[11]  Christopher G. Harris,et al.  A Combined Corner and Edge Detector , 1988, Alvey Vision Conference.