%0 Journal Article
%T New visual odometry method for planetary rover localization<br>用于行星探测车定位的视觉测程新方法
%A DI Kaichang
%A WAN Wenhui
%A LIU Zhaoqin
%A <br>邸凯昌
%A 万文辉
%A 刘召芹
%J 遥感学报
%D 2013
%I 
%X The use of Visual Odometry (VO) for planetary rover localization has been extensively researched. Traditionally, motion estimation is resolved only between adjacent frames; this neglected stronger geometric constraints possible from processing multiple consecutive frames. This paper presents a new visual odometry method based on bundle adjustment of an image network formed by feature tracking among multiple consecutive frames. In the feature-tracking process, outliers are detected based on the consistency of Euclidean distances in different stereo frames; geometric key frames are selected adaptively. Additionally, analysis of VO accuracy with respect to the geometric configuration of stereo camera is performed using Monte Carlo simulation. Results of field experiments demonstrate the effectiveness of the proposed method in improving localization accuracy.
%K planetary rover
%K visual odometry
%K bundle adjustment
%K feature tracking
%K geometric key frame<br>行星探测车
%K 视觉测程
%K 光束法平差
%K 特征追踪
%K 几何关键帧
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=E62459D214FD64A3C8082E4ED1ABABED5711027BBBDDD35B&cid=A41A70F4AB56AB1B&jid=F926358B31AC94511E4382C083F7683C&aid=AE8DAD4245F3E9A9F3F5F44F7BC839DD&yid=FF7AA908D58E97FA&vid=BCA2697F357F2001&iid=CA4FD0336C81A37A&sid=D997634CFE9B6321&eid=1D0FA33DA02ABACD&journal_id=1007-4619&journal_name=遥感学报&referenced_num=0&reference_num=23