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Motion and structure for vision-based navigation

Published online by Cambridge University Press:  01 July 1999

C. Sagüés  and
J.J. Guerrero
C. Sagüés
Affiliation:
Departamento de Informática e Ingeniería de Sistemas, Centro Politécnico Superior, UNIVERSIDAD DE ZARAGOZA, María de Luna 3, E-50015 ZARAGOZA, (SPAIN). E-mail: csagues@posta.unizar.es, jguerrer@posta.unizar.es
J.J. Guerrero
Affiliation:
Departamento de Informática e Ingeniería de Sistemas, Centro Politécnico Superior, UNIVERSIDAD DE ZARAGOZA, María de Luna 3, E-50015 ZARAGOZA, (SPAIN). E-mail: csagues@posta.unizar.es, jguerrer@posta.unizar.es
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Abstract

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.

Keywords

Robot visionVisual motionMotion estimationRobot navigationMotion and structure
Type
Research Article
Information
Robotica , Volume 17 , Issue 4 , July 1999 , pp. 355 - 364
Copyright
© 1999 Cambridge University Press

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