Motion and structure for vision-based navigation
Motion and structure for vision-based navigation
复制标题
基于视觉的导航的运动和结构
DOI：
10.1017/s0263574799001605
复制
发表时间：
1999
期刊：
影响因子：
2.7
通讯作者：
J. J. Guerrero
中科院分区：
文献类型：
--
作者：
C. Sagüés;J. J. Guerrero
本文的目的是开发一个完整的算法来确定机器人的运动和场景结构的单目视觉系统。它基于直线和在直线上提取的重要点。通过这种方法，建立了点的提取或匹配问题与无限线计算结构和运动的局限性之间的一致性。利用场景中线条的许多几何关系来消除摄像机旋转与平移之间的耦合。用几幅真实图像验证了所提出的方法。将该算法应用于人工环境中移动机器人的导航。
This paper aims to develop a complete algorithm to determine the robot motion and the scene structure using a monocular vision system. It is based on straight lines and significant points extracted on them. In this way, an agreement between the problems to extract or to match points and the limitations of infinite lines to compute structure and motion is established. Many geometrical relations of the lines in the scene are exploited to clear up the coupling between the rotation and the translation of the camera. Several real images have been used to validate the proposed method. The algorithm has been considered for navigation of a mobile robot moving in man-made environments.