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Robust Stereo Visual Odometry and SLAM for Unmanned Aerial Vehicles

 

A new light small-scale low-cost ARM-based Stereo Vision Pre-Processing System is designed.

            

           

           

Note: One plugin is specially developed for this new system to achieve real-time Stereo Visual Odometry and Mapping.

 

And our system supports the typical stereo matching approaches:

As the popular Semi-Global Block-Matching done by other Stereo Embedded Systems, some results from our system captured in our university are shown as following: 

              

 

 

One result in Hallway Environment:

                                      

 

More results:

 Stereo Visual Odometry and SLAM Results with Well-Known Stereo Video Datasets.

 

         

                                            Fig 1. EuRoC Example (Dense Map)

 

  

                                    Fig 2. Stereo V-SLAM KITTI Example (Sparse Map)

 

 

 Related link:

http://138.100.76.11/visionguided2/?q=ARMhacks

 

 

Researches: