Applying High-Level Understanding to Visual Localisation for Mapping
(2007) Applying High-Level Understanding to Visual Localisation for Mapping, in Mukhopadhyay, Subhas and Sen Gupta, Gourab, Eds. Autonomous Robots and Agents, Studies in Computational Intelligence, chapter 5, pages pp. 35-42. Springer.
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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 to see the floor immediately in front of the robot in order to avoid obstacles. 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. Horizontal edges in the real world very rarely appear horizontal in the image due to perspective. By mapping these back to real-world coordinates, it is possible to use the locations of these edges in two successive images to measure rotations or translations of the robot.
| Item Type: | Book Chapter |
|---|---|
| Status: | Published |
| Place of Publication: | Berlin Heidelberg |
| Keywords: | computer vision; monocular camera; camera tilt; perspective; visual localisation |
| Subjects: | 280000 Information, Computing and Communication Sciences > 280200 Artificial Intelligence and Signal and Image Processing > 280208 Computer Vision 280000 Information, Computing and Communication Sciences > 280200 Artificial Intelligence and Signal and Image Processing > 280209 Intelligent Robotics |
| ID Code: | 9466 |
| Deposited By: | Taylor, Trevor |
| Deposited On: | 13 September 2007 |
| Alternative Locations: | http://www.springer.com/east/home?SGWID=5-102-22-173747313-0 |
| Copyright Owner: | Copyright 2007 Springer |
| Additional Information: | For more information about this book please refer to the publisher's website (see link) or contact the author. |