A method for estimating mobile robot egomotion is presented, which relies on tracking contours in real-time images acquired with a calibrated monocular video system. After fitting an active contour to an object in the image, 3D motion is derived from the affine deformations suffered by the contour in an image sequence. More than one object can be tracked at the same time yielding some different pose estimations. Then, improvements in pose determination are achieved by fusing al l these different estimations. Inertial information is used to obtain better estimates, as it introduces in the tracking algorithm a measure of the real velocity. Inertial information is also used to eliminate some ambiguities arising from the use of a monocular image sequence. As the algorithms developed are intended to be used in real-time control systems, considerations on computation costs are taken into account. ; This work was supported by the project 'Sistema reconfigurable para la navegación basada en visión de robots caminantes y rodantes en entornos naturales.' (00). ; Peer Reviewed


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Fusing visual and inertial sensing to recover robot egomotion


    Beteiligte:

    Erscheinungsdatum :

    2003-01-01


    Anmerkungen:

    doi:10.1002/rob.10125



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Schlagwörter :

    Klassifikation :

    DDC:    629



    Fusing visual contour tracking with inertial sensing to recover robot egomotion

    Alenyà, Guillem / Martínez Marroquín, Elisa / Torras, Carme | BASE | 2003

    Freier Zugriff

    Qualitative Egomotion

    Fermueller, C. / Aloimonos, Y. | British Library Online Contents | 1995


    Visual Vehicle Egomotion Estimation using the Fourier-Mellin Transform

    Goecke, Roland / Asthana, Akshay / Pettersson, Niklas et al. | IEEE | 2007


    Visual Vehicle Egomotion Estimation Using the Fourier-Mellin Transform

    Goecke, R. / Asthana, A. / Pettersson, N. et al. | British Library Conference Proceedings | 2007


    Egomotion Estimation Using Assorted Features

    Pradeep, V. / Lim, J. | British Library Online Contents | 2012