Vision data registration for robot self-localization in 3D

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Volumn , Issue , 2005, Pages 2315-2320

  Zhang, Pifu ^a   Milios, Evangelos E ^a   Gu, Jason ^a  

^a DALHOUSIE UNIVERSITY   (Canada)

Author keywords

Data registration; Estimation; Robot; Self localization; Vision

Indexed keywords

CAMERAS; ESTIMATION; INTELLIGENT ROBOTS; MAXIMUM LIKELIHOOD ESTIMATION; ROBOTS; VISION;

CONSISTENT ESTIMATION; DATA REGISTRATION; DISTANCE MEASURE; ESTIMATION PROBLEM; EUCLIDEAN DISTANCE; MAHALANOBIS DISTANCES; SELF LOCALIZATION; THREE DIMENSIONAL SPACE;

STEREO IMAGE PROCESSING;

EID: 79957989307     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2005.1545433     Document Type: Conference Paper

References (17)

1. A. Adam, E. Rivlin, and I. Shimshoni. Computing the sensory uncertainty field of a vision-based localization sensor. IEEE Transactions on Robotics and Automation, 17:258-267, 2001. (Pubitemid 32829733)
2. P. J. Besl and N. D. McKay. A method for registration 3D shapes. IEEE Transactions on Pattern Analysis and Machine Intelligence, 14:239- 256, 1992.
3. A. R. Chowdhury and R. Chellappa. Statistical error propagation in 3D modeling from monocular video. IEEE Workshop on Statistical Analysis in Computer Vision, 2003.
4. C. Dorai, J. Weng, and A. K. Jain. Optimal registration of object views using range data. IEEE Transactions on Pattern Analysis and Machine Intelligence, 19:1131-1138, 1997. (Pubitemid 127762303)
5. J. Feldmar and N. J. Ayache. Rigid, affine and locally affine registration of free-form surfaces. International Journal of Computer Vision, 18(2):99-119, 1996. (Pubitemid 126713871)
6. M. A. Fischler and R. C. Bolles. Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography. Communications of the ACM, 24, 1981.
7. M. A. Garcia and A. Solanas. 3D simultaneous localization and modeling from stereo vision. In Proceedings of the 2004 IEEE International Conf. on Robotics and Automation, pages 847-853, New Orleans, LA, April 2004.
8. Berthold K. P. Horn. Closed-form solution of absolute orientation using unit quaternions. Journal of Optical Society of America, 4:629-642, 1987.
9. K. Kanatani. Unbiased estimation and statistical analysis of 3-D rigid motion from two views. IEEE Transactions on Pattern Analysis and Machine Intelligence, 15:37-50, 1993. (Pubitemid 23608990)
10. D. G. Lowe. Distinctive image features from scale-invariant keypoints. International Journal of Computer Vision, 60:91-110, 2004.
11. F. Lu and E. Milios. Globally consistent range scan alignment for environment mapping. Autonomous Robots, 4(4):333-349, 1997. (Pubitemid 127508781)
12. H. Madjidi and S. Negahdaripour. Global alignment of sensor posistions with noisy motion measurements. In IEEE International Conference on Robotics and Automations, New Orleans, April 2004.
13. L. Matthies and S. A. Shafer. Error modeling in stereo navigation. IEEE Journal of Robotics and Automotion, RA-3:239-248, 1987.
14. C. F. Olson, L. H. Matthies, M. Schoppers, and M. W. Maimone. Stereo ego-motion improvements for robust rover navigation. In Proceedings of IEEE International Conference on Robotics and Automation, Korea, May 2001.
15. Juan Manuel Saez and Francisco Escolano. A global 3D map-building approach using stereo vision. In IEEE International Conference on Robotics and Automation, New Orleans, April 2004.
16. G. C. Sharp. Automatic and stable multiview 3D surface registration. In Dissertation of Universoty of Michigan, 2002.
17. S. Umeyama. Least square estimation of transformation parameters between two point patterns. IEEE Transactions on Pattern Analysis and Machine Intelligence, 13:376-380, 1991. (Pubitemid 21645719)