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
相关论文
共 12 条
  • [1] Vision for mobile robot navigation: A survey
    DeSouza, GN
    Kak, AC
    [J]. IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE, 2002, 24 (02) : 237 - 267
  • [2] Feature selection for position estimation using an omnidirectional camera
    Do, Huan N.
    Jadaliha, Mahdi
    Choi, Jongeun
    Lim, Chae Young
    [J]. IMAGE AND VISION COMPUTING, 2015, 39 : 1 - 9
  • [3] Omnidirectional vision based topological navigation
    Goedeme, Toon
    Nuttin, Marnix
    Tuytelaars, Tinne
    Van Gool, Luc
    [J]. INTERNATIONAL JOURNAL OF COMPUTER VISION, 2007, 74 (03) : 219 - 236
  • [4] 基于单幅立式标靶图像的单目深度信息提取
    黄小云
    高峰
    徐国艳
    丁能根
    邢龙龙
    [J]. 北京航空航天大学学报, 2015, (04) : 649 - 655
  • [5] Mostegel C, 2014, IEEE INT CONF ROBOT, P3848, DOI 10.1109/ICRA.2014.6907417
  • [6] Nascimento RCA, 2013, 2013 IEEE LATIN AMERICAN ROBOTICS SYMPOSIUM (LARS 2013), P61, DOI [10.1109/LARS.2013.58, 10.1109/.18]
  • [7] Wendel A., 2011, 2011 IEEE International Conference on Robotics and Automation (ICRA 2011), P5792, DOI 10.1109/ICRA.2011.5980317
  • [8] Ceiling-Based Visual Positioning for an Indoor Mobile Robot With Monocular Vision
    Xu, De
    Han, Liwei
    Tan, Min
    Li, You Fu
    [J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2009, 56 (05) : 1617 - 1628
  • [9] [尹英杰 Yin Yingjie], 2013, [电子测量与仪器学报, Journal of Electronic Measurement and Instrument], V27, P347
  • [10] Yu Qing-xiao, 2012, Journal of Donghua University (English Edition), V29, P197
12