Robust 3D landmark tracking using trinocular vision

John Mallon; Ovidiu Ghita; Paul F. Whelan

doi:10.1117/12.463730

19 March 2003 Robust 3D landmark tracking using trinocular vision

John Mallon, Ovidiu Ghita, Paul F. Whelan

Proceedings Volume 4877, Opto-Ireland 2002: Optical Metrology, Imaging, and Machine Vision; (2003) https://doi.org/10.1117/12.463730
Event: OPTO Ireland, 2002, Galway, Ireland

Abstract

Position determination and verification of a mobile robot is a central theme in robotics research. Several methods have been proposed for this problem, including the use of visual feedback information. These vision systems typically aim to extract known or tracked landmarks from the environment to localize the robot. Detection and matching these landmarks is often the most computationally expensive and error prone component of the system. This paper presents a real-time system for robustly matching landmarks in complex scenes, with subsequent tracking. The vision system comprises of a trinocular head, from which corner points are extracted. These are then matched with respect to robustness constraints in addition to the trinocular constraints. Finally, the resulting robustly extracted corners are tracked from frame to frame to determine the robot's rotational deviations.

Citation Download Citation

John Mallon, Ovidiu Ghita, and Paul F. Whelan "Robust 3D landmark tracking using trinocular vision", Proc. SPIE 4877, Opto-Ireland 2002: Optical Metrology, Imaging, and Machine Vision, (19 March 2003); https://doi.org/10.1117/12.463730

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