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Summary: Rough Terrain Visual Odometry
Motilal Agrawal
Artificial Intelligence Center
SRI International
Menlo Park, CA, USA
Email: agrawal@ai.sri.com
Kurt Konolige
Artificial Intelligence Center
SRI International
Menlo Park, CA, USA
Email: konolige@ai.sri.com
Abstract-- We present an integrated system to localize a
mobile robot in rough outdoor terrain using visual odometry.
Our previous work [1] presented a visual odometry solution
that estimates frame-to-frame motion from stereo cameras
and integrated this incremental motion with a low cost GPS.
We extend that work through the use of bundle adjustment
over multiple frames. Bundle adjustment helps to reduce the
error significantly, thereby making our system more robust and
accurate while still operating in real-time. Our new system can
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