Visual odometry

In navigation, odometry is the use of data from the movement of actuators to estimate change in position over time through devices such as rotary encoders to measure wheel rotations. While useful for many wheeled or tracked vehicles, traditional odometry techniques cannot be applied to mobile robots with non-standard locomotion methods, such as legged robots. In addition, odometry universally suffers from precision problems, since wheels tend to slip and slide on the floor creating a non-uniform distance traveled as compared to the wheel rotations. The error is compounded when the vehicle operates on non-smooth surfaces. Odometry readings become increasingly unreliable as these errors accumulate and compound over time. Visual odometry is the process of determining equivalent odometry information using sequential camera images to estimate the distance traveled. Visual odometry allows for enhanced navigational accuracy in robots or vehicles using any type of locomotion on any surface. ==Types==

There are various types of VO. Monocular and stereo Depending on the camera setup, VO can be categorized as Monocular VO (single camera), Stereo VO (two camera in stereo setup). Feature-based and direct method Traditional VO's visual information is obtained by the feature-based method, which extracts the image feature points and tracks them in the image sequence. Recent developments in VO research provided an alternative, called the direct method, which uses pixel intensity in the image sequence directly as visual input. There are also hybrid methods. Visual inertial odometry If an inertial measurement unit (IMU) is used within the VO system, it is commonly referred to as Visual Inertial Odometry (VIO). ==Algorithm==

Most existing approaches to visual odometry are based on the following stages. • Acquire input images: using either single cameras., ==Egomotion==

Egomotion is defined as the 3D motion of a camera within an environment. In the field of computer vision, egomotion refers to estimating a camera's motion relative to a rigid scene. An example of egomotion estimation would be estimating a car's moving position relative to lines on the road or street signs being observed from the car itself. The estimation of egomotion is important in autonomous robot navigation applications. The process of estimating a camera's motion within an environment involves the use of visual odometry techniques on a sequence of images captured by the moving camera. Using stereo image pairs for each frame helps reduce error and provides additional depth and scale information. Features are detected in the first frame, and then matched in the second frame. This information is then used to make the optical flow field for the detected features in those two images. The optical flow field illustrates how features diverge from a single point, the focus of expansion. The focus of expansion can be detected from the optical flow field, indicating the direction of the motion of the camera, and thus providing an estimate of the camera motion. There are other methods of extracting egomotion information from images as well, including a method that avoids feature detection and optical flow fields and directly uses the image intensities. ==See also==