Determining the absolute orientation in a corridor using projectivegeometry and active vision
Segvic, S.; Ribaric, S.
Industrial Electronics, IEEE Transactions on
Volume 48, Issue 3, Jun 2001 Page(s):696 - 710
Digital Object Identifier 10.1109/41.925597
Summary:The capability of a mobile robot to determine its position in the
environment (self-localization) is a prerequisite for achieving
autonomous navigation. An approach is proposed for determining the
absolute orientation of an autonomous robot in a system of corridors,
based on the projective geometry and active computer vision. In the
proposed approach, the common direction of longitudinal corridor edges
is inferred by detecting the vanishing point of the corresponding
straight line segments in the image. It is assumed that the knowledge
about the vertical direction in the scene is available, so that the
image coordinates of these vanishing points are considerably
constrained. However, longitudinal corridor edges are not visible in
images acquired for many viewing directions, so that the processing in a
localization procedure has to be performed on a sequence of images
acquired from the given position, for regularly arranged orientations of
the camera. Extensive experimentation was performed on real scenes and
the obtained results are provided
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