Title :
3D Localization with Conical Vision
Author :
Cauchois, Cyril ; Brassart, Eric ; Delahoche, Laurent ; Clerentin, Arnaud
Author_Institution :
CREA (Center of Robotic, Electrotechnic and Automatic)
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;
Conference_Titel :
Computer Vision and Pattern Recognition Workshop, 2003. CVPRW '03. Conference on
Conference_Location :
Madison, Wisconsin, USA
Print_ISBN :
0-7695-1900-8
DOI :
10.1109/CVPRW.2003.10075