Open AccessDynamic key‐frame selection technique for enhanced odometry estimation based on laser scan similarity comparison
Author(s) -
Yoo W.S.,
Lee B.H.
Publication year - 2017
Publication title -
electronics letters
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.375
H-Index - 146
eISSN - 1350-911X
pISSN - 0013-5194
DOI - 10.1049/el.2017.1346
Subject(s) - odometry , frame (networking) , artificial intelligence , key frame , computer science , similarity (geometry) , key (lock) , computer vision , visual odometry , selection (genetic algorithm) , telecommunications , image (mathematics) , computer security , robot , mobile robot
A dynamic key‐frame selection technique is proposed for enhanced odometry estimation. The odometry estimation problem has a drift problem in which errors are accumulated over time. The proposed technique finds the key‐frame which reduces the odometry drift for every time step based on scan similarity comparisons. The enhancement of the proposed method is verified through the performance comparison with the frame‐to‐frame and the conventional frame to key‐frame methods.