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Real Time Monocular Visual Odometry using ORB Features in Indoor Environment

Bayu Kanugrahan Luknanto, Adha Imam Cahyadi, Sunu Wibirama, Herianto Herianto

Abstract


Navigation is a key process in many intelligent systems. The most common way to do navigation is using Global Positioning System (GPS). However, in indoor environment, GPS is inaccurate due to multi-path problem. To solve this problem, a dead reckoning system may be implemented. Visual odometry is one of the dead reckoning method which can help solving this problem. Among many types of visual odometry algorithm, feature-based monocular visual odometry algorithm is the one which will be built in this work. The feature detector used in this work is ORB. The features is used for triangulation and the obtained 3D structure will be used as the basic information for poses determination. Pose determination is done by solving PnP problem. After the visual odometry algorithm has been built, the performance of this algorithm is tested. The result of the performance test shows that the visual odometry algorithm can determine the position and orientation with good accuracy.

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References


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DOI: http://dx.doi.org/10.21535%2FProICIUS.2015.v11.660

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