Efficacy test of the visual odometry method in the TerraSentia robot

• Grant number: 20/10533-0
• Support Opportunities: Scholarships in Brazil - Scientific Initiation
• Start date: October 01, 2020
• End date: September 30, 2021
• Field of knowledge: Engineering - Mechanical Engineering
• Principal Investigator: Marcelo Becker
• Grantee: Jorge Id Facuri Filho
• Host Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil

Abstract

One of the great facilities that technology can provide in the life of the human being is the possibility to make discoveries and studies in remote environments and difficult to access, such as some agricultural environments that have narrow trails and full of plants. In this context, visual odometry is one of the methods to obtain positioning and orientation information that has been developed since the mid-1980s, which when applied to a mobile robot, removes the need for people to move around in these environments of difficult access. Visual odometry may rely on cheaper hardware that is also more flexible in its assembly in relation to other location sources, such as GPS and encoders since it uses only a camera, which can easily be adjusted, and an algorithm, computationally developed, to estimate the position of the robot only by analyzing the changes of certain points in the images captured along the way, called points of interest. The visual odometer method will be implemented in the TerraSentia robot, an agricultural mobile robot that will be responsible for obtaining data to its surroundings, in a given agricultural zone, to enable the monitoring of the plantation characteristics.

Scientific publications

(References retrieved automatically from Web of Science and SciELO through information on FAPESP grants and their corresponding numbers as mentioned in the publications by the authors)

CALERA, ESTEVAO SERAFIM; DE OLIVEIRA, GABRIEL CORREA; ARAUJO, GABRIEL LIMA; FACURI FILHO, JORGE ID; TOSCHI, LUCAS; HERNANDES, ANDRE CARMONA; BAQUERO VELASQUEZ, ANDRES EDUARDO; GASPARINO, MATEUS VALVERDE; CHOWDHARY, GIRISH; HISANO HIGUTI, VITOR AKIHIRO; et al. Under-Canopy Navigation for an Agricultural Rover Based on Image Data. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, v. 108, n. 2, p. 18-pg., 2023-06-01. (20/10533-0, 20/11262-0, 20/13037-3, 20/11089-6)

ARAUJO, GABRIEL L.; JORGE, ID E. FILHO; HIGUTI, VITOR A. H.; BECKER, MARCELO; DASILVA, BMF; TODT, E; NASCIMENTO, TP; DOSSANTOS, DH; CURVELO, CDF; FABRO, JA. A New Approach of Monocular Visual Odometry to Trajectory Estimation Within a Plantation. 2021 LATIN AMERICAN ROBOTICS SYMPOSIUM / 2021 BRAZILIAN SYMPOSIUM ON ROBOTICS / 2021 WORKSHOP OF ROBOTICS IN EDUCATION (LARS-SBR-WRE 2021), v. N/A, p. 6-pg., 2021-01-01. (20/11089-6, 20/10533-0, 18/10894-2, 13/07276-1)