DocumentCode :
2603306
Title :
Two-stage visual localisation: landmark-based pose initialisation and model-based pose refinement
Author :
Chen, Zezhi ; Pe, Philip ; McDermid, John ; Pears, Nick
Author_Institution :
Dept. of Comput. Sci., York Univ., UK
fYear :
2005
fDate :
2-6 Aug. 2005
Firstpage :
150
Lastpage :
156
Abstract :
We show that landmark based localisation (LBL) and Lowe´s model-based localisation (MBL) are complementary in that LBL provides a pose initialisation to MBL, which is a necessary input to the algorithm, and MBL can then refine that pose to give a more accurate pose estimate than LBL alone can provide. For LBL, we extend Betke and Gurvit´s method, such that it can be used with standard perspective cameras (their original proposal was for omnidirectional cameras) in order to get a useful initial value as an input to Lowe´s method. Intensive experiments have been carried out to analyse how camera parameters (intrinsic and extrinsic) affect the LBL position and orientation errors in the initial pose estimate. In error propagation experiments, we show that the position and orientation of a robot are sensitive to focal length and errors in imaged feature positions respectively. In the MBL pose refinement phase, we find that MBL is able to refine the position estimate, but the error in orientation estimate remains the same.
Keywords :
mobile robots; path planning; position control; robot vision; imaged feature positions; landmark-based pose initialization; mobile robots; model-based pose refinement; orientation errors; pose estimation; position errors; robot navigation; two-stage visual localization; Cameras; Computer science; Computer vision; Mathematical model; Mobile robots; Newton method; Phase estimation; Robot kinematics; Robot sensing systems; Robot vision systems; Mobile robots; localization; navigation; visual landmarks;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
Type :
conf
DOI :
10.1109/IROS.2005.1545555
Filename :
1545555
Link To Document :
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