A model to image straight line matching method for vision-based indoor mobile robot self-location
نویسندگان
چکیده
An efficient and simple method for matching image features to a model is presented. It is designed to indoor mobile robot self-location. It is a two stage method based on interpretation tree search approach and using straight line correspondences. In the first stage a set of matching hypothesis is generated. Exploiting the specificity of the mobile robotics context, the global interpretation tree is divided into two sub-trees and then two geometric constraints are defined directly on 2D3D correspondences in order to improve pruning and search efficiency. In the second stage, the pose is calculated for each matching hypothesis and the best one is selected according to a defined error function. Test results illustrate the performances of the approach.
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