Development of visual odometry component by using omni-directional camera

@article{Yokota2011DevelopmentOV,
  title={Development of visual odometry component by using omni-directional camera},
  author={Tadayuki Yokota and Kajiro Watanabe and Kazuyuki Kobayashi and Yousuke Kurihara},
  journal={SICE Annual Conference 2011},
  year={2011},
  pages={2149-2151}
}
This paper describes a new visual odometry component for a mobile robot operating in an outdoor environment such as Real World Robot Challenge (RWRC), based on omni-directional camera images. The validity of the proposed method is examined by actual experiments using an electric wheelchair based mobile robot.