An Evaluation of Image-Based Robot Orientation Estimation

Allbwn ymchwil: Pennod mewn Llyfr/Adroddiad/Trafodion CynhadleddTrafodion Cynhadledd (Nid-Cyfnodolyn fathau)

Crynodeb

This paper describes a novel image-based method for robot orientation estimation based on a single omnidirectional camera. The estimation of orientation is computed by finding the best pixel-wise match between images as a function of the rotation of the second image. This is done either using the first image as the reference image or with a moving reference image. Three datasets were collected in different scenarios along a “Gummy Bear” path in outdoor environments. This carefully designed path has the appearance of a gummy bear in profile, and provides many curves and sets of image pairs that are challenging for visual robot localisation. We compare our method to a feature-based method using SIFT and another appearance-based visual compass. Experimental results demonstrate that the appearance-based methods perform well and more consistently than the feature based method, especially when the compared images were grabbed at positions far apart.
Iaith wreiddiolSaesneg
TeitlTowards Autonomous Robotic Systems
CyhoeddwrSpringer Nature
Tudalennau135-147
Nifer y tudalennau23
ISBN (Argraffiad)9783662436448, 3662436442
Dynodwyr Gwrthrych Digidol (DOIs)
StatwsCyhoeddwyd - 31 Gorff 2013
Digwyddiad14th Annual Conference, TAROS 2013 - Oxford, Teyrnas Unedig Prydain Fawr a Gogledd Iwerddon
Hyd: 28 Awst 201330 Awst 2013

Cyfres gyhoeddiadau

EnwLecture Notes in Artificial Intelligence

Cynhadledd

Cynhadledd14th Annual Conference, TAROS 2013
Gwlad/TiriogaethTeyrnas Unedig Prydain Fawr a Gogledd Iwerddon
DinasOxford
Cyfnod28 Awst 201330 Awst 2013

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