Mobile robot localization using mono vision
Structure from motion had been an active area of research these days. Especially vision based control and navigation is rapidly replacing traditional sensors due to low cost of cameras and their easy interfacing equipments. Localization is the key step for the robot control and navigation....
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| Format: | Theses and Dissertations |
| Language: | English |
| Published: |
2015
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| Online Access: | http://hdl.handle.net/10356/64777 |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | Structure from motion had been an active area of research these days. Especially vision
based control and navigation is rapidly replacing traditional sensors due to low cost of
cameras and their easy interfacing equipments.
Localization is the key step for the robot control and navigation. In areas where GPS or
other sensors could not be deployed for robot localization, visual odometry can be an
alternative. Out of many visual odometry algorithms available in market, one of the most
cost effective algorithm is to use a single camera to estimate the visual odometry of the
robot.
In this project, various algorithms for monocular visual odometry are studied. Different
kinds of coordinate systems to represent motion of the robot and features in the image are
identified and algorithms to implement these tasks are developed. Their performance in
terms of accuracy of the visual odometry estimated from each representation is analysed.
A Benchmark dataset is used to validate the algorithms. The algorithms are tested on HP
webcam which is hand-held and is constraint free. |
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