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Using Camera Tilt to Assist with Localisation

Taylor, Trevor, Geva, Shlomo, & Boles, Wageeh W. (2006) Using Camera Tilt to Assist with Localisation. In 3rd International Conference on Autonomous Robots and Agents (ICARA), 12-14 December, 2006, Palmerston North, New Zealand.

Abstract

Digital cameras are often used on robots these days. One of the common limitations of these cameras is a relatively small Field of View. Consequently, the camera is usually tilted downwards in order to see the floor immediately in front of the robot. With the camera tilted, vertical edges no longer appear vertical in the image. This feature can however be used to advantage to discriminate amongst straight line edges extracted from the image when searching for landmarks. It might also be used to estimate angles of rotation and distances moved between successive images in order to assist with localisation.

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356 since deposited on 20 Nov 2006
53 in the past twelve months

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ID Code: 5512
Item Type: Conference Paper
Additional URLs:
Keywords: computer vision, monocular camera, camera tilt, perspective, visual localisation
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Computer Vision (080104)
Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)
Divisions: Past > QUT Faculties & Divisions > Faculty of Science and Technology
Copyright Owner: Copyright 2006 (please consult author)
Deposited On: 20 Nov 2006
Last Modified: 29 Feb 2012 23:25

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