Mobile robot self-localization in complex indoor environments using monocular vision and 3D model (CROSBI ID 529962)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Kitanov, Andrej ; Biševac, Sanjin ; Petrović, Ivan
engleski
Mobile robot self-localization in complex indoor environments using monocular vision and 3D model
In this paper, we consider the problem of mobile robot pose estimation using only visual information from a single camera and odometry readings. A focus is on building complex environmental models, fast online rendering and real-time complex and noisy image segmentation. The 3D model of the robot's environment is built using a professional freeware computer graphics tool named Blender and pre-stored in the memory of the robot's on-board computer. Estimation of the mobile robot pose as a stochastic variable is done by correspondences of image lines, extracted using Random Window Randomized Hough Transform line detection algorithm, and model lines, predicted using odometry readings and 3D environment model. The camera model and ray tracing algorithm are also described. Developed algorithms are experimentally tested using a Pioneer 2DX mobile robot.
mobile robot; self-localization; monocular vision; 3D model
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Podaci o prilogu
6 pages-x.
2007.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of the 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2007)
Zürich: Institute of Electrical and Electronics Engineers (IEEE)
1-4244-1264-1
Podaci o skupu
2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
predavanje
04.09.2007-07.09.2007
Zürich, Švicarska