A Monocular Vision System for Pose Measurement in Indoor Environment

被引:0
作者
Xu, Lingyi [1 ]
Cao, Zhiqiang [2 ]
Liu, Xilong [2 ]
机构
[1] Rutgers State Univ, Dept Elect & Comp Engn, New Brunswick, NJ 08854 USA
[2] Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
来源
2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO) | 2016年
基金
中国国家自然科学基金;
关键词
Visual measurement; localization; position estimation; monocular vision; mobile robot;
D O I
暂无
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
This paper proposes a new localization method using monocular camera. A camera is hanging on the ceiling toward the ground. Its optical axis is perpendicular to the ground as possible. Its intrinsic parameters are calibrated in advance offline. Its extrinsic parameters refer to the chessboard reference are calibrated online. Then a method is proposed to estimate the 3D positions and orientations of the specified arrow targets in the reference frame with only one captured image. The experimental results in indoor environment verify the effectiveness of the proposed method.
引用
收藏
页码:1977 / 1982
页数:6
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