A Method to Estimate 3D Structure for Mobile Robot

Author

Lian, Xiaofeng ; Dou, Lihua ; Chen, Jie

Author_Institution

Dept. of Autom. Control, Beijing Inst. of Technol.

Volume

2

fYear

0

fDate

0-0 0

Firstpage

8971

Lastpage

8975

Abstract

This paper describes a method to estimate 3D structure for mobile robot. The vision-based system of the mobile robot includes a monocular CCD camera mounted on it which can find and track the fixed reference points in 3D space while the robot moves freely. In this method a special feature point is always kept at the center of the image as the reference point by visual feedback, and then the rest feature points nearby it could be located to build a local map. In the paper, the method is mainly discussed upon the translational motion and rotational motion of the robot respectively. Experimental results show the validity of this method

Keywords

feature extraction; feedback; mobile robots; motion estimation; robot vision; stereo image processing; 3D space; 3D structure estimation; mobile robot; monocular CCD camera; reference point tracking; rotational motion; special feature point; translational motion; vision-based system; visual feedback; Cameras; Feedback; Intelligent robots; Intelligent sensors; Mobile robots; Orbital robotics; Robot kinematics; Robot sensing systems; Robot vision systems; Space technology; 3D structure; Mobile robot; Monocular;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on

Conference_Location

Dalian

Print_ISBN

1-4244-0332-4

Type

conf

DOI

10.1109/WCICA.2006.1713735

Filename

1713735