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

• Published in: 2005 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
• Language: English
• Published: IEEE 2005
• Subjects: Cameras; Global Positioning System; Humans; Image reconstruction; Mobile robots; Navigation; Robot sensing systems; Robot vision systems; Satellites; Video sequences

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...