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.
https://hal.archives-ouvertes.fr/hal-00118555
Contributeur : Maxime Lhuillier
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Soumis le : mardi 5 décembre 2006 - 16:18:35
Dernière modification le : mardi 9 octobre 2018 - 09:44:15
Document(s) archivé(s) le : samedi 14 mai 2011 - 01:06:04
Eric Royer, Maxime Lhuillier, Michel Dhome, Thierry Chateau. Localization in urban environments: monocular vision compared to a differential GPS sensor. Jun 2005, IEEE, 8 p., 2005. 〈hal-00118555〉
