Monocular visual odometry based navigation for a differential mobile robot with android os

Abstract

In this work, a real time Monocular Visual Odometry system to estimate camera position and orientation based solely on image measurements is proposed. The system is built on the basis of the fundamentals of Structure from Motion theory, and requires only a single camera to estimate positional information. Experiments were conducted on flat ground, under controlled light conditions environment, in which and an Android mobile device camera was employed as the processor and the system sensor due to ease of acquisition and low price. The proposed system resulted in absolute navigation error rates ranging from 0.14% to 0.4% of the travelled distance at processing rates of up to 5Hz.