By Topic

Estimation of camera motion with feature flow model for 3D environment modeling by using omni-directional camera

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Kawanishi, R. ; Dept. of Mech. Eng., Shizuoka Univ., Hamamatsu, Japan ; Yamashita, A. ; Kaneko, T.

Map information is important for path planning and self-localization when mobile robots accomplish autonomous tasks. In unknown environments, mobile robots should generate an environment map by themselves. Then, we propose a method for 3D environment modeling by a mobile robot. For environmental measurement, we use a single omni-directional camera. We propose a new estimation method of camera motions for improvement in measurement robustness and accuracy. The method takes advantage of a wide field of view of an omni-directional camera. Experimental results showed the effectiveness of the proposed method.

Published in:

Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on

Date of Conference:

10-15 Oct. 2009