Structure from Motion Using Omni-directional Vision and Certainty Grids
نویسندگان
چکیده
Structure From Motion Using Omni-directional Vision and Certainty Grids. (August 2004) Steven Rey Ortiz, B.S., Texas A&M University Chair of Advisory Committee: Dr. Ricardo Gutierrez-Osuna This thesis describes a method to create local maps from an omni-directional vision system (ODVS) mounted on a mobile robot. Range finding is performed by a structure-from-motion method, which recovers the three-dimensional position of objects in the environment from omni-directional images. This leads to map-making, which is accomplished using certainty grids to fuse information from multiple readings into a two-dimensional world model. The system is demonstrated both on noise-free data from a custom-built simulator and on real data from an omni-directional vision system on-board a mobile robot. Finally, to account for the particular error characteristics of a real omni-directional vision sensor, a new sensor model for the certainty grid framework is also created and compared to the traditional sonar sensor model.
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