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A model to image straight line matching method for vision-based indoor mobile robot self-location

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3 Author(s)
Aider, O.A. ; CEMIF-Complex Syst. Group, Univ. of Evry, France ; Hoppenot, P. ; Colle, E.

An efficient and simple method for matching image features to a model is presented It is designed to indoor mobile robot self-location. It is a two stage method based on the interpretation tree search approach using straight line correspondences. In the first stage a set of matching hypothesis is generated. Exploiting the specificity of the mobile robotics context, the global interpretation tree is divided into two sub-trees and then two geometric constraints are defined directly on 2D-3D correspondences in order to improve the pruning and search efficiency. In the second stage, the pose is calculated for each matching hypothesis and the best one is selected according to a defined error function. Test results illustrate the performances of the approach.

Published in:

Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on  (Volume:1 )

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