Real-Time Vision-Based Robot Localization

IEEE Transactions on Robotics and Automation

Volumn 9, Issue 6, 1993, Pages 785-800

  Atiya, Sami ^a   Hager, Gregory D ^a  

^a UNIVERSITY OF KARLSRUHE   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTATIONAL METHODS; COMPUTER VISION; ERROR DETECTION; ERRORS; FITS AND TOLERANCES; KALMAN FILTERING; MAPS; MOBILE ROBOTS; REAL TIME SYSTEMS; TRACKING (POSITION);

GEOMETRIC TOLERANCE; MATCHING; ROBOT LOCALIZATION; VISUAL LANDMARKS;

ALGORITHMS;

EID: 0027887666     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.265922     Document Type: Article

References (41)

1. G. Alefeld and J. Herzberger, Introduction to Interval Computations. New York: Academic, 1983.
2. N. Ayache and O. D. Faugeras, “Building, registrating, and fusing noisy visual maps,” Int. J. Robotics Res., vol. 7, no. 6, pp. 45–65, 1988.
3. H. S. Baird, Model-Based Image Matching Using Location. Cambridge, MA: MIT Press, 1984.
4. H. Baker and R. Bolles, “Generalizing epipolar-plane image analysis on the spatiotemporal surface,” in Proc. 1988 DARPA Image Understanding Workshop. Los Altos, CA: Morgan Kaufmann, 1988, pp. 1022–1030.
5. B. R. Barmish and J. Sankaran, “The propagation of parametric uncertainty via polytopes,” IEEE Trans. Automat. Contr., vol. AC-24, pp. 346–349, Apr. 1979.
6. J. O. Berger, Statistical Decision Theory and Bayesian Analysis. New York: Springer-Verlag, 2nd ed., 1985.
7. D. P. Bertsekas and L. B. Rhodes, “Recursive state estimation for a set-membership description of uncertainty,” IEEE Trans. Automat. Contr., vol. AC-16, pp. 117–128, Apr. 1971.
8. P. Bickel and K. Doksum, Mathematical Statistics. Oakland, CA: Holden-Day, 1977.
9. T. M. Breuel, “Model based recognition using pruned correspondence search,” in Proc. Conf. Comput. Vision Patt. Recognition. Washington, DC: IEEE Comput. Soc. Press, 1991, pp. 257–262.
10. R. Chatila and P. Moutarlier, “Stochastic multisensor data fusion for mobile robot location and environment modelling,” in Proc. 5th Int. Symp. Robotics Res. Cambridge, MA: MIT Press, 1989, pp. 207–216.
11. J. L. Crowley, “World modeling and position estimation for mobile robot using ultrasonic ranging,” in Proc. IEEE Int. Conf. Robotics Automat. Washington, DC: IEEE Press, 1989, pp. 674–680.
12. M. Drumheller, “Mobile robot localization using sonar,” IEEE Trans. Pattern Anal. Machine Intell., vol. 9, pp. 325–332, Mar. 1987.
13. H. Durrant-Whyte, Integration, Coordination, and Control of Multi Sensor Systems. Boston, MA: Kluwer, 1988.
14. A. Gelb, Ed., Applied Optimal Estimation. Cambridge, MA: MIT Press, 1974.
15. W. E. Grimson, “Sensing strategies for disambiguating among multiple objects in known poses,” IEEE Trans. Robotics Automat., vol. RA-2, no. 4, pp. 196–213, 1986.
16. G. D. Hager, “Set-based estimation towards task-directed sensing,” in Proc. Melecon ’91. Washington, DC: IEEE Comput. Soc. Press, 1991, pp. 1205–1209.
17. —, “Deciding not to decide using resource-bounded sensing,” in Sensor Fusion III: 3-D Perception and Recognition, volume 1383. Bellingham, WA: SPIE, 1990, pp. 379–390.
18. —, Task-Directed Sensor Fusion and Planning. Boston, MA: Kluwer, 1990.
19. G. D. Hager and M. Mintz, “Sensor modeling and robust sensor fusion,” in Proc. Fifth Int. Symp. Robotics Res. Cambridge, MA: MIT Press, Aug. 1989.
20. B. Hussain and M. R. Kabuka, “Real-time system for accurate three-dimensional position determination and verification,” IEEE Trans. Robotics Automat., vol. 6, pp. 31–43, Feb. 1990.
21. D. Huttenlocher and S. Ullman, “Object recognition using alignment,” in Int. Conf. Comput. Vision, London, UK, June 1987, pp. 102–107.
22. D. J. Kriegman, E. Triendl, and T. O. Binford, “Stereo vision and navigation in buildings for mobile robots,” IEEE Trans. Robotics Automat., vol. 5, pp. 792–803, Dec. 1989.
23. E. Krotkov, Active Computer Vision by Cooperative Focusing and Stereo. New York: Springer-Verlag, 1989.
24. —, “Mobile robot localization using a single image,” in Proc. IEEE Int. Conf. Robotics Automat. Washington, DC: IEEE Comput. Soc. Press, 1989, pp. 978–983.
25. R. K. Lenz and R. Y. Tsai, “Techniques for calibration of the scale factor and image center for high accuracy 3-D machine vision metrology,” IEEE Trans. Pattern Anal. Machine Intell., vol. 10, pp. 713–720, Sept. 1988.
26. J. L. Leonard and H. F. Durrant-Whyte, “Mobile robot localization by tracking geometric beacons,” IEEE Trans. Robotics Automat., vol. 7, pp. 376–380, June 1991.
27. S. Linnainmaa, D. Harwood, and L. S. Davis, “Pose determination of a three-dimensional object using triangle pairs,” IEEE Trans. Pattern Anal. Machine Intell., vol. 1, pp. 634–647, Sept. 1988.
28. L. Matthies and S. Shafer, “Error modeling in stereo navigation,” IEEE Trans. Robotics Automat., vol. RA-3, pp. 239–248, June 1987.
29. M. Milanese and G. Belforte, “Estimation theory and uncertainty intervals evaluation in presence of unknown but bounded errors: Linear families of models and estimators,” IEEE Trans. Automat. Contr., vol. AC-27, pp. 408–414, Apr. 1982.
30. R. E. Moore, Interval Analysis. Englewood Cliffs, NJ: Prentice-Hall, 1966.
31. H. P. Moravec, “The Stanford cart and the CMU rover,” Proc. IEEE, vol. 71, July 1983.
32. D. Paul, W. Hattich, W. Nill, S. Tatari, and G. Winkler, “Vista: Visual interpretation system for technical applications: Architecture and use,” IEEE Trans. Pattern Anal. Machine Intell., vol. PAMI-10, pp. 399–407, 1988.
33. U. Rembold. “The Karlsruhe autonomous mobile assembly robot,” in Proc. IEEE Int. Conf. Robotics Automat. Washington, DC: IEEE Comput. Soc. Press, 1988, pp. 598–603.
34. G. Richter, “Identikation von Objeckten in Bildfolgen durch invariante Beschreibung der Umgebung,” in Digitale Bildverarbeitung (Theoretische Grundlagen), Vol. 93, Studien Texte Digitale Bildver arbeitung. Dresden: TU Dresden, 1986, pp. 102–107.
35. A. Sabater and F. Thomas, “Set membership approach to the propagation of uncertain geometric information,” in Proc. IEEE Int. Conf. Robotics Automat. Washington, DC: IEEE Comput. Soc. Press, 1991, pp. 2718–2733.
36. F. C. Schweppe, “Recursive state estimation; Unknown but bounded errors and system inputs,” IEEE Trans. Automat. Contr., vol. AC-13, pp. 22–28, Feb. 1968.
37. R. Smith and P. Cheeseman, “On the representation and estimation of spatial uncertainty,” Int. J. Robotics Res., vol. 5, pp. 56–69, 1987.
38. F. Solina, “Errors in stereo due to quantization,” Dept. Comput. Sci. Rep. TR-85-34, Univ. Pennsylvania, Philadelphia, PA, 1985.
39. K. Sugihara, “Some location problems for robot navigation using a single camera,” Comput. Vision, Graphics, Image Process., vol. 42, no. 1, pp. 112–129, Apr. 1988.
40. H. S. Witsenhausen, “Sets of possible states of linear systems given perturbed observations,” IEEE Trans. Automat. Cont., vol. AC-13, pp. 556–558, Oct. 1968.
41. Z. Zhang and O. D. Faugeras, “Tracking 3D line segments: New developments,” in Proc. Int. Conf. Advanced Robotics. Washington, DC: IEEE Comput. Soc. Press, 1991, pp. 1365–1370.