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ICRA
2000
IEEE

3D Motion Tracking of a Mobile Robot in a Natural Environment

9 years 5 months ago
3D Motion Tracking of a Mobile Robot in a Natural Environment
This paper presents a vision-based tracking system suitable for autonomous robot vehicle guidance. The system includes a head with three on-board CCD cameras, which can be mounted anywhere on a mobile vehicle. By processing consecutive trinocular sets of precisely aligned and recti ed images, the local 3D trajectory of the vehicle in an unstructured environment can be tracked. First, a 3D representation of stable features in the image scene is generated using a stereo algorithm. Second, motion is estimated by tracking matched features over time. The motion equation with 6-DOF is then solved using an iterative least squares t algorithm. Finally, a Kalman lter implementation is used to optimize the world representation of scene features.
Parvaneh Saeedi, Peter D. Lawrence, David G. Lowe
Added 31 Jul 2010
Updated 31 Jul 2010
Type Conference
Year 2000
Where ICRA
Authors Parvaneh Saeedi, Peter D. Lawrence, David G. Lowe
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