Localization in urban environments: monocular vision compared to a differential GPS sensor

Author

Royer, Eric ; Lhuillier, Maxime ; Dhome, Michel ; Chateau, Thierry

Author_Institution

LASMEA, Aubiere, France

Volume

2

fYear

2005

fDate

20-25 June 2005

Firstpage

114

Abstract

In this paper we present a method for computing the localization of a mobile robot with reference to a learning video sequence. The robot is first guided on a path by a human, while the camera records a monocular learning sequence. Then a 3D reconstruction of the path and the environment is computed off line from the learning sequence. The 3D reconstruction is then used for computing the pose of the robot in real time (30 Hz) in autonomous navigation. Results from our localization method are compared to the ground truth measured with a differential GPS.

Keywords

Global Positioning System; computer vision; image reconstruction; image sensors; image sequences; mobile robots; real-time systems; video signal processing; 3D path reconstruction; differential GPS sensor; mobile robot localization computing; monocular learning sequence; monocular vision; path guidance; real time robot pose computing; video sequence; Cameras; Global Positioning System; Humans; Image reconstruction; Mobile robots; Navigation; Robot sensing systems; Robot vision systems; Satellites; Video sequences;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Vision and Pattern Recognition, 2005. CVPR 2005. IEEE Computer Society Conference on

ISSN

1063-6919

Print_ISBN

0-7695-2372-2

Type

conf

DOI

10.1109/CVPR.2005.217

Filename

1467430