Abstract
This paper describes a forward velocity estimation method using visual information. Forward velocity estimated from ground surface images is not affected by wheel slip. Using the estimated velocity, estimation error of localization would be decreased. In order to estimate velocity accurately and stably, many feature points are extracted and tracked with ground surface images. Shifting of feature points in an image is transformed into movement distance of body by plane projection for calculating the forward velocity. Experimental results in a rough terrain environment like other planet's surface are presented for verifying our system.
