Naslov
Mobile robot self-localization in complex indoor environments using monocular vision and 3D model

Autori
Kitanov, Andrej ; Biševac, Sanjin ; Petrović, Ivan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2007) / - Zürich : Institute of Electrical and Electronics Engineers (IEEE), 2007

ISBN
1-4244-1264-1

Skup
2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

Mjesto i datum
Zürich, Švicarska, 04.09.2007. - 07.09.2007

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
mobile robot; self-localization; monocular vision; 3D model

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti

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