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

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...

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Published in2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) Vol. 2; pp. 114 - 121 vol. 2
Main Authors Royer, E., Lhuillier, M., Dhome, M., Chateau, T.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2005
Subjects
Cameras
Global Positioning System
Humans
Image reconstruction
Mobile robots
Navigation
Robot sensing systems
Robot vision systems
Satellites
Video sequences
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Summary: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.
ISBN:0769523722
9780769523729
ISSN:1063-6919
1063-6919
DOI:10.1109/CVPR.2005.217