Title :
3D motion tracking of a mobile robot in a natural environment
Author :
Saeedi, P. ; Lawrence, P. ; Lowe, D.
Author_Institution :
Dept. of Electr. & Comput. Eng., British Columbia Univ., Vancouver, BC, Canada
Abstract :
This paper presents a vision-based tracking system suitable for autonomous robot vehicle guidance. The system includes a head with three on-board CCD cameras, which can be mounted anywhere on a mobile vehicle. By processing consecutive trinocular sets of precisely aligned and rectified images, the local 3D trajectory of the vehicle in an unstructured environment can be tracked. First, a 3D representation of stable features in the image scene is generated using a stereo algorithm. Next, motion is estimated by trading matched features over time. The motion equation with 6-DOF is then solved using an iterative least squares fit algorithm. Finally, a Kalman filter implementation is used to optimize the world representation of scene features
Keywords :
computerised navigation; curve fitting; image matching; iterative methods; least squares approximations; mobile robots; motion estimation; optical tracking; robot vision; stereo image processing; 3D motion tracking; 3D representation; CCD cameras; Kalman filter; image matching; iterative method; least squares fit; mobile robot; motion estimation; robot vehicle guidance; robot vision; stereo image processing; Charge coupled devices; Charge-coupled image sensors; Head; Iterative algorithms; Layout; Mobile robots; Navigation; Remotely operated vehicles; Robot vision systems; Tracking;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.844838