Rover localization from long stereo image sequences using visual odometry based on bundle adjustment

Abstract

This paper proposes a rover localization method from long stereo image sequences by using visual odometry based on bundle adjustment. Firstly, a progressive stereo image network is built by feature tracking in multiple frames of the stereo image sequence. Then exterior orientation parameters of all images in the network are solved by using bundle adjustment technique to get the rover position. Field experimental results demonstrate that the developed method can localize the rover in real time (2fps) with an accuracy of between than 1.5%.