Title :
Vision-based robot localization
Author :
Hajjdiab, Hassan ; Laganiere, Robert
Author_Institution :
Sch. of Inf. Technol. & Eng., Ottawa Univ., Ont., Canada
Abstract :
This paper studies the problem of robot localization in the case of robots equipped with a single camera. We propose to calculate the location of the robots by using a collection of sparse views of the planar surface on which these robots are moving. The camera motions are estimated using inter-image homographies computed from the matching of overhead transformed views. Results of map generated from the estimated robot locations are shown.
Keywords :
cameras; mobile robots; motion estimation; robot vision; interimage homographies; mobile robots; multimodal information; overhead transformed views; robot localization; single camera; sparse views; vision-based robot; Cameras; Image databases; Information technology; Layout; Mobile robots; Motion estimation; Robot kinematics; Robot localization; Robot sensing systems; Robot vision systems;
Conference_Titel :
Haptic, Audio and Visual Environments and Their Applications, 2003. HAVE 2003. Proceedings. The 2nd IEEE Internatioal Workshop on
Print_ISBN :
0-7803-8108-4
DOI :
10.1109/HAVE.2003.1244719
