3D Localization with Conical Vision

Workshop on Omnidirectional Vision and Camera Networks

物理学;材料科学

Cyril Cauchois ; Eric Brassart ; Laurent Delahoche ; Arnaud Clerentin

PID  :  83324

学科分类：材料科学（综合）

来源: CEUR

【 摘 要 】

This paper deals with an absolute mobile robot self localization algorithm in an indoor environment. Untilnow, localization methods based on conicalomnidirectional vision sensors uniquely used radialsegments from vertical environment landmarks projection.The main motivation of this work is to demonstrate thatthe SYCLOP sensor can be used as a vision sensor ratherthan a goniometric one. We will show how the calibrationallows us to know the omnidirectional image formationprocess to compute a synthetic image base. Then, we willpresent the spatial localization method using a base ofsynthetics images and one real omnidirectional image.Finally, some experimental results obtained with real