DocumentCode :
2826533
Title :
3D Localization with Conical Vision
Author :
Cauchois, Cyril ; Brassart, Eric ; Delahoche, Laurent ; Clerentin, Arnaud
Author_Institution :
CREA (Center of Robotic, Electrotechnic and Automatic)
Volume :
7
fYear :
2003
fDate :
16-22 June 2003
Firstpage :
81
Lastpage :
81
Abstract :
This paper deals with an absolute mobile robot self-localization algorithm in an indoor environment. Until now, localization methods based on conical omnidirectional vision sensors uniquely used radial segments from vertical environment landmarks projection. The main motivation of this work is to demonstrate that the SYCLOP sensor can be used as a vision sensor rather than a goniometric one. We will show how the calibration allows us to know the omnidirectional image formation process to compute a synthetic image base. Then, we will present the spatial localization method using a base of synthetics images and one real omnidirectional image. Finally, some experimental results obtained with real noisy omnidirectional images are shown.
Keywords :
Calibration; Computational modeling; Indoor environments; Mathematical model; Mirrors; Mobile robots; Robot sensing systems; Robot vision systems; Robotics and automation; Sensor systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Computer Vision and Pattern Recognition Workshop, 2003. CVPRW '03. Conference on
Conference_Location :
Madison, Wisconsin, USA
ISSN :
1063-6919
Print_ISBN :
0-7695-1900-8
Type :
conf
DOI :
10.1109/CVPRW.2003.10075
Filename :
4624343
Link To Document :
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