Localization in urban environments: monocular vision compared to a differential GPS sensor - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2005

Localization in urban environments: monocular vision compared to a differential GPS sensor

Résumé

In this paper we present a method for computing the localization of a mobile robot with reference to a learning video sequence. The robot is first guided on a path by a human, while the camera records a monocular learning sequence. Then a 3D reconstruction of the path and the environment is computed off line from the learning sequence. The 3D reconstruction is then used for computing the pose of the robot in real time (30 Hz) in autonomous navigation. Results from our localization method are compared to the ground truth measured with a differential GPS.
Fichier principal
Vignette du fichier
Cvpr05.pdf (1.07 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-00118555 , version 1 (05-12-2006)

Identifiants

  • HAL Id : hal-00118555 , version 1

Citer

Eric Royer, Maxime Lhuillier, Michel Dhome, Thierry Chateau. Localization in urban environments: monocular vision compared to a differential GPS sensor. Jun 2005, 8 p. ⟨hal-00118555⟩

Collections

PRES_CLERMONT CNRS
62 Consultations
202 Téléchargements

Partager

Gmail Facebook X LinkedIn More