Title :
Localization in urban environments: monocular vision compared to a differential GPS sensor
Author :
Royer, Eric ; Lhuillier, Maxime ; Dhome, Michel ; Chateau, Thierry
Author_Institution :
LASMEA, Aubiere, France
Abstract :
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 off line from the learning sequence. The 3D reconstruction is then used for computing the pose of the robot in real time (30 Hz) in autonomous navigation. Results from our localization method are compared to the ground truth measured with a differential GPS.
Keywords :
Global Positioning System; computer vision; image reconstruction; image sensors; image sequences; mobile robots; real-time systems; video signal processing; 3D path reconstruction; differential GPS sensor; mobile robot localization computing; monocular learning sequence; monocular vision; path guidance; real time robot pose computing; video sequence; Cameras; Global Positioning System; Humans; Image reconstruction; Mobile robots; Navigation; Robot sensing systems; Robot vision systems; Satellites; Video sequences;
Conference_Titel :
Computer Vision and Pattern Recognition, 2005. CVPR 2005. IEEE Computer Society Conference on
Print_ISBN :
0-7695-2372-2
DOI :
10.1109/CVPR.2005.217
