Details

Autor(en) / Beteiligte

• Pyojin Kim
• Hyon Lim
• Kim, H. Jin

Titel

6-DoF velocity estimation using RGB-D camera based on optical flow

Ist Teil von

• 2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2014, p.4008-4013

Ort / Verlag

IEEE

Erscheinungsjahr

2014

Quelle

IEEE Electronic Library Online

Beschreibungen/Notizen

• In this paper, we suggest a new 6-DoF velocity estimation algorithm using RGB and depth images. Autonomous control of mobile robots requires their velocity information. There exist numerous researches on estimating and measuring the velocity. However, more investigations are needed related to vision sensors and depth image. In this work, we propose an algorithm for velocity estimation with an RGB-D sensor based on image jacobian matrix usually used in image-based visual servoing. We validate the performance of the proposed estimation algorithm in various environments with the RGB-D benchmark dataset. The velocity estimation results show the high quality of estimated 6-DoF velocity compared to the ground truth velocity.