全方位视觉系统的视觉里程计

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI:10.1109/ROBOT.2003.1241656

R. Bunschoten, B. Kröse

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引用次数: 38

摘要

我们描述了一种从全向视觉系统拍摄的图像中估计移动机器人两个后续姿态之间的平移和旋转的方法。这允许某种形式的视觉里程计。我们使用了两种来自全向图像的投影。旋转和平移方向由全景投影确定。然后，利用平行于地面的平面上的投影来估计平移向量的长度。在真实数据和模拟数据上进行了实验。

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Visual odometry from an omnidirectional vision system

We describe a method for estimating the translation and rotation between two subsequent poses of a moving robot from images taken with an omnidirectional vision system. This allows some form of visual odometry. We use two sorts of projections derived from the omnidirectional image. The rotation and translation direction are determined from panoramic projections. After that, a projection on a plane parallel to the ground is used to estimate the length of the translation vector. Experiments on real and simulated data are carried out.

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来源期刊

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)

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