Indoor robot motion based on monocular images

Authors
Ortin, D Montiel, JMM
Citation
D. Ortin et Jmm. Montiel, Indoor robot motion based on monocular images, ROBOTICA, 19, 2001, pp. 331-342
Citations number
20
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
ROBOTICA
ISSN journal
02635747 → ACNP
Volume
19
Year of publication
2001
Part
3
Pages
331 - 342
Database
ISI
SICI code
0263-5747(200105/06)19:<331:IRMBOM>2.0.ZU;2-Q
Abstract
The estimation of the 2D relative motion of an indoor robot using monocular vision is presented. The camera calibration is known, and its motion is li mited to be planar. These constraints are included in the robust regression of epipolar geometry from point matches. Motion is derived from the epipol ar geometry. A sequence of 54 real images is used to test the algorithm. Ac curate motion, both in rotation and translation angles of 0.4 and 1.7 deg, is successfully derived.