TY - GEN
T1 - The Implementation of Visual Odometer Based on Raspberry Pi and Robot Operating System
AU - Zhen, Feng
AU - Yanning, Guo
AU - Peng, Han
AU - Shaojiang, Zhang
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/8
Y1 - 2018/8
N2 - The visual odometer (VO) is an essential part of visual navigation and plays an essential role in the position estimation of mobile robots. Currently, VO is mainly designed and implemented on PC, and it is inconvenient to test on the medium and small-sized mobile robots. In this paper, we designed the VO on Raspberry Pi microcomputer board based on Robot Operating System (ROS). We divided the VO into different parts according to the function, which is realized by the distributed parallel nodes in the ROS. The real-time performance is guaranteed by multi-nodes in the limited calculation of the Raspberry Pi, and the development mode of multi-nodes is also convenient for updating or changing the arithmetic of VO in the future. Experimental results show that the VO proposed in this paper has high accuracy and exceptional real-time performance.
AB - The visual odometer (VO) is an essential part of visual navigation and plays an essential role in the position estimation of mobile robots. Currently, VO is mainly designed and implemented on PC, and it is inconvenient to test on the medium and small-sized mobile robots. In this paper, we designed the VO on Raspberry Pi microcomputer board based on Robot Operating System (ROS). We divided the VO into different parts according to the function, which is realized by the distributed parallel nodes in the ROS. The real-time performance is guaranteed by multi-nodes in the limited calculation of the Raspberry Pi, and the development mode of multi-nodes is also convenient for updating or changing the arithmetic of VO in the future. Experimental results show that the VO proposed in this paper has high accuracy and exceptional real-time performance.
UR - https://www.scopus.com/pages/publications/85082480938
U2 - 10.1109/GNCC42960.2018.9019013
DO - 10.1109/GNCC42960.2018.9019013
M3 - 会议稿件
AN - SCOPUS:85082480938
T3 - 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018
BT - 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018
Y2 - 10 August 2018 through 12 August 2018
ER -