Abstract
In this paper a real-time approach for visual self-localisation of mobile platforms in dynamic environments is presented. Vision-based approaches for improving motion estimation recently have gained a lot of attention. Yet methods banking on vision only suffer from wrong tracking of features between frames as the optical flow resulting from the robot motion cannot be distinguished from the one resulting from robot independent motion in the camera images. In the scope of this work a method for robust visual self-localisation in dynamic environments on the basis of feature prediction using wheel odometry was developed.
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© 2007 Springer-Verlag Berlin Heidelberg
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Schäfer, H., Hahnfeld, P., Berns, K. (2007). Real-Time Visual Self-Localisation in Dynamic Environments. In: Berns, K., Luksch, T. (eds) Autonome Mobile Systeme 2007. Informatik aktuell. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-74764-2_8
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DOI: https://doi.org/10.1007/978-3-540-74764-2_8
Publisher Name: Springer, Berlin, Heidelberg
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