Аналіз ефективності використання візуальної одометрії для навігації мобільної платформи у невизначеному середовищі

Abstract

Accurate localization of mobile platforms in an uncertain environment is a fundamental challenge and one of the most important tasks of mobile robots. To autonomously navigate a robot, track its movement, detect and avoid obstacles, it must store information about its position over time. The use of vision-based odometry is a reliable technique that can solve the tasks at hand. This allows reliable localization of the platform using only the image stream captured by the camera attached to the robot.