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Open AccessBook ChapterDOI

Error modeling in stereo navigation

Larry Matthies, +1 more
- Vol. 3, Iss: 3, pp 239-248
TLDR
In this article, a 3D Gaussian distribution is used to model triangulation error in stereo vision for a mobile robot that estimates its position by tracking landmarks with on-board cameras.
Abstract: 
In stereo navigation, a mobile robot estimates its position by tracking landmarks with on-board cameras. Previous systems for stereo navigation have suffered from poor accuracy, in part because they relied on scalar models of measurement error in triangulation. Using three-dimensional (3D) Gaussian distributions to model triangulation error is shown to lead to much better performance. How to compute the error model from image correspondences, estimate robot motion between frames, and update the global positions of the robot and the landmarks over time are discussed. Simulations show that, compared to scalar error models, the 3D Gaussian reduces the variance in robot position estimates and better distinguishes rotational from translational motion. A short indoor run with real images supported these conclusions and computed the final robot position to within two percent of distance and one degree of orientation. These results illustrate the importance of error modeling in stereo vision for this and other applications.

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Journal ArticleDOI

Iterative point matching for registration of free-form curves and surfaces

Zhengyou Zhang
- 01 Oct 1994 - 
TL;DR: A heuristic method has been developed for registering two sets of 3-D curves obtained by using an edge-based stereo system, or two dense3-D maps obtained by use a correlation-based stereoscopic system, and it is efficient and robust, and yields an accurate motion estimate.
Journal ArticleDOI

Mobile robot localization by tracking geometric beacons

John J. Leonard, +1 more
TL;DR: An algorithm for, model-based localization that relies on the concept of a geometric beacon, a naturally occurring environment feature that can be reliably observed in successive sensor measurements and can be accurately described in terms of a concise geometric parameterization, is developed.
Journal ArticleDOI

Vision for mobile robot navigation: a survey

Guilherme N. DeSouza, +1 more
- 01 Feb 2002 - 
TL;DR: The developments of the last 20 years in the area of vision for mobile robot navigation are surveyed and the cases of navigation using optical flows, using methods from the appearance-based paradigm, and by recognition of specific objects in the environment are discussed.
Journal ArticleDOI

Visual Odometry [Tutorial]

Davide Scaramuzza, +1 more
- 08 Dec 2011 - 
TL;DR: Visual odometry is the process of estimating the egomotion of an agent (e.g., vehicle, human, and robot) using only the input of a single or If multiple cameras attached to it, and application domains include robotics, wearable computing, augmented reality, and automotive.
Proceedings ArticleDOI

Simultaneous map building and localization for an autonomous mobile robot

John J. Leonard, +1 more
TL;DR: Discusses a significant open problem in mobile robotics: simultaneous map building and localization, which the authors define as long-term globally referenced position estimation without a priori information.
References
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Book

Applied Optimal Estimation

Arthur Gelb
TL;DR: This is the first book on the optimal estimation that places its major emphasis on practical applications, treating the subject more from an engineering than a mathematical orientation, and the theory and practice of optimal estimation is presented.
Journal ArticleDOI

On the representation and estimation of spatial uncertainly

Randall Smith, +1 more
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TL;DR: In this paper, a general method for estimating the nominal relationship and expected error (covariance) between coordinate frames representing the relative locations of objects is described. But this method can be used to answer such questions as whether a camera attached to a robot is likely to have a particular reference object in its field of view.

Spacecraft attitude determination and control

James R. Wertz
TL;DR: In this article, the first comprehensive presentation of data, theory, and practice in attitude analysis is presented, including orthographic globe projections to eliminate confusion in vector drawings and a presentation of new geometrical procedures for mission analysis and attitude accuracy studies which can eliminate many complex simulations.
Book

Obstacle avoidance and navigation in the real world by a seeing robot rover

Hans P. Moravec
TL;DR: The Stanford AI Lab cart as discussed by the authors is a card-table sized mobile robot controlled remotely through a radio link, and equipped with a TV camera and transmitter equipped with an onboard TV system.
Journal ArticleDOI

Uniqueness and Estimation of Three-Dimensional Motion Parameters of Rigid Objects with Curved Surfaces

Roger Y. Tsai, +1 more
- 01 Jan 1984 - 
TL;DR: In this article, it was shown that seven point correspondences are sufficient to uniquely determine from two perspective views the three-dimensional motion parameters (within a scale factor for the translations) of a rigid object with curved surfaces.