Title :
Towards monocular localization using ground points
Author :
Bonin-Font, Francisco ; Burguera, Antoni ; Ortiz, Alberto ; Oliver, Gabriel
Author_Institution :
Dept. Mat. i Inf., Univ. de les Illes Balears, Palma de Mallorca, Spain
Abstract :
This paper proposes a mobile robot localization approach based on a monocular vision system. The proposal operates in three main steps. First, image features are extracted from frames gathered at different positions. Second, the obtained features are classified as obstacles or ground points. Third, under the assumption of a flat floor, the ground point coordinates are computed and used to perform localization. The experimental results, performed both in simulation and real environments, validate the proposal.
Keywords :
SLAM (robots); feature extraction; image classification; mobile robots; path planning; robot vision; ground point; image feature extraction; mobile robot localization; monocular vision system; obstacle point;
Conference_Titel :
Emerging Technologies and Factory Automation (ETFA), 2010 IEEE Conference on
Conference_Location :
Bilbao
Print_ISBN :
978-1-4244-6848-5
DOI :
10.1109/ETFA.2010.5641279