Geometric and Appearance Based Methods for Visual Model Acquisition and Localization
نویسنده
چکیده
Visual sensing is essential to robot’s interaction with its environment and can dramatically enhance its autonomy, navigation, manipulation and human interaction capabilities. In the context of these tasks, the crucial choice its the one of representation of the environment and objects, in order to enable robust relative positioning, localization and initialization of different visually guided tasks. In this paper I will overview a class of geometric techniques for acquisition of 3D models of objects from multiple views and simultaneous computation of camera/object motion. In the context localization task I will demonstrate that by endowing the geometric features with invariant appearance based signatures simplifies difficult matching stage and enables global localization and successful computation of the relative pose between the query view and the model database.
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