Abstract
The bootstrap Problem of self-localization in indoor environments is a demanding task for initial localization and topological navigation. The ability to determine the position in an a priori known or already explored environment allows unsupervised use of mobile robots in environments such as private households. This paper presents our approach to identify a given set of known reference structures in a three-dimensional map of the local environment. This map is constructed from the data extracted by a line-based stereo camera system mounted on a mobile vehicle. We present the method used to identify objects and to compute the vehicle's position in a world frame.
The work presented in this paper was supported by the Deutsche Forschungsgemeinschaft as a past of an interdisciplinary research project on “Information Processing in Autonomous Mobile Robots” (SFB331).
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References
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© 1997 Springer-Verlag Berlin Heidelberg
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Burschka, D., Blum, S.A. (1997). Identification of 3D reference structures for video-based localization. In: Chin, R., Pong, TC. (eds) Computer Vision — ACCV'98. ACCV 1998. Lecture Notes in Computer Science, vol 1351. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-63930-6_113
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DOI: https://doi.org/10.1007/3-540-63930-6_113
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