Visual map-less navigation based on homographies
نویسندگان
چکیده
منابع مشابه
Visual map-less navigation based on homographies
We introduce a method for autonomous robot navigation based on homographies computed between current image and images taken in a previous teaching phase with a monocular vision system. The features used to estimate the homography are vertical lines automatically extracted and matched. From homography, the underlying motion correction between the reference path and the current robot location is ...
متن کاملVisual map - less navigation based on homographies 1
We introduce a method for autonomous robot navigation based on homographies computed between current image and images taken in a previous teaching phase with a monocular vision system. The features used to estimate the homography are vertical lines automatically extracted and matched. From homography, the underlying motion correction between the reference path and the current robot location is ...
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We introduce three new results, which allow homographies of the ground plane to support visual navigation functions for mobile robots using uncalibrated cameras. Firstly, we illustrate how, for pure translation, a homography can be computed from just two pairs of corresponding corner features. Secondly, we show how, for pure translation, we can determine the height of corner features above the ...
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ژورنال
عنوان ژورنال: Journal of Robotic Systems
سال: 2005
ISSN: 0741-2223,1097-4563
DOI: 10.1002/rob.20077