Monocular Vision for Mobile Robot Localization and Autonomous Navigation
Issue Title: Special Issue: Vision and Robotics -- Joint with The International Journal of Robotics Research Guest Editors: Greg Hager, Martial Hebert and Seth Hutchinson This paper presents a new real-time localization system for a mobile robot. We show that autonomous navigation is possible in out...
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| Veröffentlicht in: | International journal of computer vision 2007-09, Vol.74 (3), p.237-260 |
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| creator | Royer, Eric Lhuillier, Maxime Dhome, Michel Lavest, Jean-Marc |
| description | Issue Title: Special Issue: Vision and Robotics -- Joint with The International Journal of Robotics Research Guest Editors: Greg Hager, Martial Hebert and Seth Hutchinson This paper presents a new real-time localization system for a mobile robot. We show that autonomous navigation is possible in outdoor situation with the use of a single camera and natural landmarks. To do that, we use a three step approach. In a learning step, the robot is manually guided on a path and a video sequence is recorded with a front looking camera. Then a structure from motion algorithm is used to build a 3D map from this learning sequence. Finally in the navigation step, the robot uses this map to compute its localization in real-time and it follows the learning path or a slightly different path if desired. The vision algorithms used for map building and localization are first detailed. Then a large part of the paper is dedicated to the experimental evaluation of the accuracy and robustness of our algorithms based on experimental data collected during two years in various environments.[PUBLICATION ABSTRACT] |
| doi_str_mv | 10.1007/s11263-006-0023-y |
| format | Article |
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| ispartof | International journal of computer vision, 2007-09, Vol.74 (3), p.237-260 |
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| language | eng |
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| source | Springer Nature - Complete Springer Journals |
| subjects | Algorithms Computer Science Computer Vision and Pattern Recognition Localization Robotics Robots Studies |
| title | Monocular Vision for Mobile Robot Localization and Autonomous Navigation |
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