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The visual odometry approach is based on template matching, which deals with estimating the robot displacement through a matching process between two consecutive images. Standard visual odometry has been improved using visual compass method for orientation estimation. For this purpose, two consumer-grade monocular cameras have been employed. One camera is pointing at the ground under the robot, and the other is looking at the surrounding environment. Comparisons with popular localization approaches, through physical experiments in off-road conditions, have shown the satisfactory behavior of the proposed strategy.<\/jats:p>","DOI":"10.1017\/s026357471100110x","type":"journal-article","created":{"date-parts":[[2011,10,5]],"date-time":"2011-10-05T05:49:36Z","timestamp":1317793776000},"page":"865-878","source":"Crossref","is-referenced-by-count":49,"title":["Combined visual odometry and visual compass for off-road mobile robots localization"],"prefix":"10.1017","volume":"30","author":[{"given":"Ramon","family":"Gonzalez","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Francisco","family":"Rodriguez","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jose Luis","family":"Guzman","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Cedric","family":"Pradalier","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Roland","family":"Siegwart","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2011,10,5]]},"reference":[{"key":"S026357471100110X_ref2","first-page":"3085","volume-title":"Proceedings of IEEE Conference on Robotics and Automation, IEEE","author":"Borenstein","year":"1994"},{"key":"S026357471100110X_ref16","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20103"},{"key":"S026357471100110X_ref13","unstructured":"13. 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