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Indoor robot motion based on monocular images

Published online by Cambridge University Press:  25 April 2001

D. Ortín  and
J. M. M. Montiel
D. Ortín
Affiliation:
Dpto. Informática e Ingeniería de Sistemas, María de Luna 3, E-50015 Zaragoza (Spain)182616@cepsz.unizar.es
J. M. M. Montiel
Affiliation:
Dpto. Informática e Ingeniería de Sistemas, María de Luna 3, E-50015 Zaragoza (Spain)josemari@posta.unizar.es, 182616@cepsz.unizar.es
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Abstract

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The estimation of the 2D relative motion of an indoor robot using monocular vision is presented. The camera calibration is known, and its motion is limited to be planar. These constraints are included in the robust regression of epipolar geometry from point matches. Motion is derived from the epipolar geometry. A sequence of 54 real images is used to test the algorithm. Accurate motion, both in rotation and translation angles of 0.4 and 1.7 deg, is successfully derived.

Keywords

Monocular visionRobust epipolar geometryIndoor robotAccurate motion
Type
Research Article
Information
Robotica , Volume 19 , Issue 3 , May 2001 , pp. 331 - 342
Copyright
2001 Cambridge University Press