3D localization and tracking in unknown environments

Title3D localization and tracking in unknown environments
Publication TypeConference Paper
Year of Publication2003
AuthorsSaeedi, P., D. G. Lowe, and P. D. Lawrence
Conference NameRobotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Pagination1297 - 1303 vol.1
Date Publishedsep.
Keywords3D localization, CCD image sensors, filtering theory, geometric information, Kalman filtering process, Kalman filters, mobile robot, mobile robots, motion estimation, mountable head, onboard stereo CCD camera, robot vision, robust tracking, sensory device, stereo algorithms, stereo image processing, tracking, unknown environments, vision system, vision-based system

This paper describes a vision-based system for 3D localization and tracking of a mobile robot in an unmodified environment. The system includes a mountable head with three on-board stereo CCD cameras that can be installed on the robot. There the main emphasis is on the ability to estimate the geometric information of the robot independently from any prior scene knowledge, landmark or extra sensory device. Distinctive scene features are identified using a novel algorithm and their 3D locations are estimated with a stereo algorithm. Using multi-stage feature tracking and motion estimation in a symbolic manner, precise motion vectors are obtained. The 3D positions of the scene features are updated by a Kalman filtering process. Experimental results show that robust tracking and localization can be achieved using our vision system.


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