High resolution relative localisation using two cameras

Wheel odometry is a common method for high resolution relative localisation. However, wheel odometry relies on the integrity and accuracy of a kinematic model. In this paper, a new method for relative localisation, ‘visiodometry’, which does not rely on a kinematic model, is proposed. The system consists of two ground-facing cameras mounted on either side of the robot. From the sequence of images acquired, the relative change in pose of the robot is estimated using a phase correlation based method. Results on a plain coloured carpeted surface, show that the method provides a truly odometric type sensor data input similar in modality and resolution to wheel odometry. A method to calibrate the visiodometry system using a 1D object is also presented.