Visual Odometry in a 2-D environment CS-365A Course Project BY: Aakriti Mittal (12005) Keerti Anand (13344) Under the guidance of: Prof. Amitabha Mukherjee

Introduction  Visual Odometry is the process of estimating the position and orientation of the robot using the camera images associated with it.  Our aim is to determine the location of the robotic arm, having 2 or 3 links with camera mounted on the top of the end effector, by analysing the images of the environment of the robot.

Motivation  Mars Land Rover Mission  All those places where GPS can’t be used to determine one’s location  Visual Odometry provides a quite accurate tool to handle the problem of navigation and finding its location

Approach  Environment: Square shaped box with 4 coloured walls and black corners

Approach

References  R. Horaud, R. Mohr, F. Dornaika, and B. Boufama, The advantage of mounting a camera onto a robot arm, in In Proc. of the Europe-China Workshop on Geometrical Modelling and Invariants for Computer Vision, pp  D. Nister, O. Naroditsky, and J. Bergen, Visual odometry, in Computer Vision and Pattern Recognition, CVPR Proceedings of the 2004 IEEE Computer Society Conference on, vol. 1, IEEE, 2004, pp. I  Visual odometry for ground vehicle applications, Journal of Field Robotics, 23 (2006), pp  D. Scaramuzza and F. Fraundorfer, Visual odometry [tutorial], Robotics & Automation Magazine, IEEE, 18 (2011), pp  Swati, Construction of ego-model of robot arm

Thank you!! Questions??