移动机器人的视觉里程计

IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI:10.1109/LARC.2011.6086813

J. Delgado, P. Kurka, E. Cardozo

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引用次数: 3

摘要

本文介绍了视觉里程计的一个应用，通过使用立体摄像系统重建移动机器人的路径。采用尺度不变特征变换算法(SIFT)对图像进行处理，并在三维欧氏坐标空间中定位关键点。利用该方法对先锋移动机器人的路径进行了估计。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Visual odometry in mobile robots

The paper presents an application of visual odometry, through reconstruction of the path of a mobile robot, using a stereoscopic camera system. The scale invariant feature transformation algorithm (SIFT), is used to process the images and locate keypoints in a 3D euclidian coordinates space. The path of a Pioneer mobile robot is estimated using the proposed technique.

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IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE

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