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Proceedings Paper

Self-localization of a mobile robot using a single vision sensor
Author(s): Jaehong Shim
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Paper Abstract

The most important factor of autonomous mobile robot is to build a map for surrounding environment and estimate its localization. This paper proposes a real-time localization and map building method through 3-D reconstruction using scale invariant feature from single camera. Mobile robot attached monocular camera looking wall extracts scale invariant features in each image using SIFT(Scale Invariant Feature Transform) as it follows wall. Matching is carried out by the extracted features and matching feature map that is transformed into absolute coordinates using 3-D reconstruction of point and geometrical analysis of surrounding environment build, and store it map database. After finished feature map building, the robot finds some points matched with previous feature map and find its pose by affine parameter in real time. Position error of the proposed method was max. 6.2cm and angle error was within 5°.

Paper Details

Date Published: 8 October 2007
PDF: 8 pages
Proc. SPIE 6718, Optomechatronic Computer-Vision Systems II, 67180B (8 October 2007); doi: 10.1117/12.754552
Show Author Affiliations
Jaehong Shim, Korea Polytechnic Univ. (South Korea)

Published in SPIE Proceedings Vol. 6718:
Optomechatronic Computer-Vision Systems II
Jonathan Kofman; Yuri Lopez de Meneses; Shun'ichi Kaneko; Claudio A. Perez; Didier Coquin, Editor(s)

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